Robot arm mechanism

ABSTRACT

Herein disclosed is a robot arm mechanism comprising a first arm link mechanism and a second arm link mechanism, a robot arm driving mechanism for driving the first arm link mechanism and the second arm link mechanism, and a link retaining mechanism for pivotably retaining the first arm link mechanism and the second arm link mechanism, in which a third arm link and a fourth arm link of the first arm link mechanism are kept forward in a first rotation direction, in which the first arm link mechanism and the second arm link mechanism are extended, thereby enabling to prevent the quadric crank chain constituting the robot arm mechanism from being flattened out while the first arm link mechanism and the second arm link mechanism are extended, and improving resistance to deformation, in comparison with the conventional robot arm mechanism.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to a robot arm mechanism having armscontracted and extended, and more particularly to a robot arm mechanismincorporating an arm driving mechanism for driving the arms to assumeits contracted and extended positions.

2. Description of the Related Art

Up until now, there have been proposed a wide variety of conventionalrobot arm mechanisms available in the process of producingsemiconductors in which the robot arm mechanism is operated to have armscontracted and extended to handle works, i.e., objects to be treated.These objects may include works such as, for example, wafers and otherprecision parts that are to be transferred and then unloaded onto a worktable by the robot arm mechanism.

One typical example of the conventional robot arm mechanism of this typeis disclosed in, for example, Japanese Patent Laid-Open Publication No.2000-208588. Such conventional robot arm mechanism 900 is shown in FIG.20 as comprising a first arm link mechanism 910, a second arm linkmechanism 920, a robot arm driving mechanism 930, and a link retainingmechanism 940.

The first arm link mechanism 910 consists of a quadric crank chaincomprising a first arm link 911, a second arm link 912 substantially inparallel relationship with the first arm link 911, a third arm link 913,and a fourth arm link 914 substantially in parallel relationship withthe third arm link 913. The second arm link mechanism 920 consists of aquadric crank chain comprising a first arm link 921, a second arm link922 substantially in parallel relationship with the first arm link 921,a third arm link 923, and a fourth arm link 924 substantially inparallel relationship with the third arm link 923.

The first and second arm links 921, 922 of the second arm link mechanism920 are substantially equal in length to the first and second arm links911, 912 of the first arm link mechanism 910, respectively. The thirdarm link 923 of the second arm link mechanism 920 is integrally formedwith and fixedly connected with the third arm link 913 of the first armlink mechanism 910.

The conventional robot arm mechanism 900 has a reference line 900 a, andfurther comprises a robot arm driving mechanism 930. The robot armdriving mechanism 930 is adapted to drive the first arm link mechanism910 so as to rotate the first arm link 911 and the second arm link 912of the first arm link mechanism 910 with respect to the reference line900 a.

The link retaining mechanism 940 consists of first and second jointcross linkages. The first joint cross linkage consists of a quadriccrank chain comprising a first short link 941, a second short link 942substantially equal in length to the first short link 941, a second longlink 943, and a first long link 944 substantially equal in length to thesecond long link 943, wherein the first long link 944 of the first jointcross linkage of the link retaining mechanism 940 is crossed with thesecond long link 943 of the first joint cross linkage of the linkretaining mechanism 940. The second joint cross linkage consists of aquadric crank chain comprising a first short link 945, a second shortlink 946 substantially equal in length to the first short link 945, asecond long link 947, and a first long link 948 substantially equal inlength to the second long link 947, wherein the first long link 948 ofthe second joint cross linkage of the link retaining mechanism 940 iscrossed with the second long link 947 of the second joint cross linkageof the link retaining mechanism 940. Furthermore, the first short link941 of the first joint cross linkage of the link retaining mechanism 940is integrally formed with and fixedly connected with the first arm link921 of the second arm link mechanism 920, and the second long link 947of the second joint cross linkage of the link retaining mechanism 940 isintegrally formed with and fixedly connected with the first arm link 911of the first arm link mechanism 910.

The second long link 943 of the first joint cross linkage of the linkretaining mechanism 940 is integrally formed with and fixedly connectedwith the third arm link 913 of the first arm link mechanism 910, and thefirst short link 945 of the second joint cross linkage of the linkretaining mechanism 940 substantially equal in length to the second longlink 943 of the first joint cross linkage of the link retainingmechanism 940, and integrally formed with and fixedly connected with thethird arm link 923 of the second arm link mechanism 920. The secondshort link 942 of the first joint cross linkage of the link retainingmechanism 940 integrally formed with and fixedly connected with thefirst long link 948 of the second joint cross linkage of the linkretaining mechanism 940.

The link retaining mechanism 940 thus constructed is adapted topivotably retain the first arm link mechanism 910 and the second armlink mechanism 920 and keep a first angle θ 901 substantially equal to asecond angle θ 902, wherein the first angle θ 901 is an angle formed bythe first arm link 911 of the first arm link mechanism 910 with thereference line 900 a, and the second angle θ 902 is an angle formed bythe first arm link 921 of the second arm link mechanism 920 with thereference line 900 a.

The conventional robot arm mechanism 900 further comprises a robot armmember 951 having first and second end portions, and a handling member952 for supporting and handling an object. The first end portion of therobot arm member 951 is integrally formed with and fixedly connectedwith the fourth arm link 924 of the second arm link mechanism 920. Thehandling member 952 is connected with the second end portion of therobot arm member 951.

The conventional robot arm mechanism 900 thus constructed makes itpossible for the first arm link mechanism 910 and the second arm linkmechanism 920 to be contracted and extended to assume its contracted andextended positions.

The conventional robot arm mechanism 900 thus constructed, however,encounters drawbacks resulting from the fact that the quadric crankchains constituting the first arm link mechanism 910, the quadric crankchain constituting the second arm link mechanism 920, and the quadriccrank chain constituting the link retaining mechanism 940 may be easilyflattened out, and accordingly vulnerable to deformation while the firstarm link mechanism 910 and the second arm link mechanism 920 areextended to assume its extended position as shown in FIG. 20.

This means that the conventional robot arm mechanism 900 encounters aproblem that the quadric crank chains constituting the first arm linkmechanism 910, the quadric crank chain of the second arm link mechanism920, and the link retaining mechanism 940 may be deformed due to, forexample, a temperature change while the first arm link mechanism 910 andthe second arm link mechanism 920 are extended, thereby making itdifficult for the conventional robot arm mechanism 900 to accuratelyposition the handling member 952 while the first arm link mechanism 910and the second arm link mechanism 920 are extended, and accordinglyaggravating the operating accuracy of the conventional robot armmechanism 900.

The conventional robot arm mechanism 900 encounters another problem thatthe quadric crank chains constituting the first arm link mechanism 910,the quadric crank chain of the second arm link mechanism 920, and thelink retaining mechanism 940 may be deformed due to, for example, anexternal force exerted thereon while the first arm link mechanism 910and the second arm link mechanism 920 are extended, thereby making itdifficult for the conventional robot arm mechanism 900 to accuratelyposition the handling member 952 independently of the external forceexerted thereon while the first arm link mechanism 910 and the secondarm link mechanism 920 are extended, and accordingly aggravating theoperating accuracy of the conventional robot arm mechanism 900.

The present invention is made with a view to overcoming the previouslymentioned problems inherent to the conventional robot arm mechanism.

SUMMARY OF THE INVENTION

It is, therefore, an object of the present invention to provide a robotarm mechanism which is resistant to deformation while the first arm linkmechanism and the second arm link mechanism are extended, andaccordingly enhancing the operating accuracy of the robot arm mechanismin comparison with the conventional robot arm mechanism.

In accordance with a first aspect of the present invention, there isprovided a robot arm mechanism comprising: a first arm link mechanismconsisting of a first quadric crank chain comprising a first arm link, asecond arm link substantially in parallel relationship with the firstarm link, a third arm link, and a fourth arm link substantially inparallel relationship with the third arm link; a second arm linkmechanism consisting of a second quadric crank chain comprising a firstarm link, a second arm link substantially in parallel relationship withthe first arm link, a third arm link, and a fourth arm linksubstantially in parallel relationship with the third arm link, thesecond arm link mechanism is pivotably connected with the first arm linkmechanism; a link retaining mechanism having a reference line, the linkretaining mechanism pivotably retaining the first arm link mechanism andthe second arm link mechanism respectively and keeping a first anglesubstantially equal to a second angle, the first angle being an angleformed by a line passing through the first arm link of the first armlink mechanism with the reference line, the second angle being an angleformed by a line passing through the first arm link of the second armlink mechanism with the reference line; a robot arm driving mechanismcomprising; a first driving shaft operative to rotate the first arm linkof the first arm link mechanism around a rotation axis in any one of tworotation directions consisting of a first rotation direction in whichthe first arm link mechanism and the second arm link mechanism areextended, and a second rotation direction in which the first arm linkmechanism and the second arm link mechanism are contracted, and a seconddriving shaft operative to rotate the fourth arm link of the first armlink mechanism around the rotation axis in any one of two rotationdirections consisting of the first rotation direction and the secondrotation direction, a robot arm member having first and second endportions, the first end portion fixedly connected with the fourth armlink of the second arm link mechanism, and a handling member forsupporting and handling an object, connected with the second end portionof the robot arm member. In the aforesaid robot arm mechanism, the robotarm driving mechanism is operative to rotate the first arm link of thefirst arm link mechanism around the rotation axis in the first rotationdirection, and the fourth arm link of the first arm link mechanismaround the rotation axis in any one of two directions consisting of thefirst rotation direction and the second rotation direction whilemaintaining the first angle formed by a line passing through the firstarm link of the first arm link mechanism with the reference line lessthan a third angle formed by a line passing through the fourth arm linkof the first arm link mechanism with the reference line in the firstrotation direction. In the aforesaid robot arm mechanism according tothe present invention, the third angle may be set to an angle so thatthe first arm link and the fourth arm link of the first arm linkmechanism become substantially perpendicular to each other when thefirst arm link mechanism and the second arm link mechanism are extendedto its their limits.

In accordance with a second aspect of the present invention, there isprovided a robot arm mechanism comprising: a first arm link mechanismconsisting of a first quadric crank chain comprising a first arm link, asecond arm link substantially in parallel relationship with the firstarm link, a third arm link, and a fourth arm link substantially inparallel relationship with the third arm link; a second arm linkmechanism consisting of a second quadric crank chain comprising a firstarm link, a second arm link substantially in parallel relationship withthe first arm link, a third arm link, and a fourth arm linksubstantially in parallel relationship with the third arm link, thesecond arm link mechanism is pivotably connected with the first arm linkmechanism; a link retaining mechanism having a reference line, the linkretaining mechanism pivotably retaining the first arm link mechanism andthe second arm link mechanism respectively and keeping a first anglesubstantially equal to a second angle, the first angle being an angleformed by a line passing through the second arm link of the first armlink mechanism with the reference line, the second angle being an angleformed by a line passing through the first arm link of the second armlink mechanism with the reference line; a robot arm member having firstand second end portions, the first end portion fixedly connected withthe fourth arm link of the second arm link mechanism; a handling memberfor supporting and handling an object, connected with the second endportion of the robot arm member; a robot arm driving mechanismcomprising: a first driving shaft operative to rotate the first arm linkof the first arm link mechanism around a rotation axis in any one of tworotation directions consisting of a first rotation direction in whichthe first arm link of the second arm link mechanism rotates in arotation direction opposite to the first rotation direction, and thefirst arm link mechanism and the second arm link mechanism are extended,and a second rotation direction in which the first arm link of thesecond arm link mechanism rotates in a rotation direction opposite tothe second rotation direction, and the first arm link mechanism and thesecond arm link mechanism are contracted, and a second driving shaftoperative to rotate the fourth arm link of the first arm link mechanismaround the rotation axis in any one of two rotation directionsconsisting of the first rotation direction and the second rotationdirection. In the aforesaid robot arm mechanism, the robot arm drivingmechanism is operative to rotate the first arm link of the first armlink mechanism around the rotation axis in the first rotation direction,and the fourth arm link of the first arm link mechanism around therotation axis in any one of two directions consisting of the firstrotation direction and the second rotation direction while maintainingthe first angle formed by a line passing through the second arm link ofthe first arm link mechanism with the reference line less than a thirdangle formed by a line passing through the fourth arm link of the secondarm link mechanism with the reference line in the rotation directionopposite to the first rotation direction. In the aforesaid robot armmechanism according to the present invention, the third angle may be setto an angle so that the first arm link and the fourth arm link of thesecond arm link mechanism become substantially perpendicular to eachother when the first arm link mechanism and the second arm linkmechanism are extended to its their limits.

In accordance with a third aspect of the present invention, there isprovided a robot arm mechanism comprising: a first arm link mechanismconsisting of a first quadric crank chain comprising a first arm link, asecond arm link substantially in parallel relationship with the firstarm link, a third arm link, and a fourth arm link substantially inparallel relationship with the third arm link; a second arm linkmechanism consisting of a second quadric crank chain comprising a firstarm link, a second arm link substantially in parallel relationship withthe first arm link, a third arm link, and a fourth arm linksubstantially in parallel relationship with the third arm link, thesecond arm link mechanism is pivotably connected with the first arm linkmechanism; a link retaining mechanism having a reference line, the linkretaining mechanism pivotably retaining the first arm link mechanism andthe second arm link mechanism respectively and keeping a first anglesubstantially equal to a second angle, the first angle being an angleformed by a line passing through the first arm link of the first armlink mechanism with the reference line, the second angle being an angleformed by a line passing through the first arm link of the second armlink mechanism with the reference line; and a robot arm drivingmechanism comprising; a first driving shaft operative to rotate thefirst arm link of the first arm link mechanism around a rotation axis inany one of two rotation directions consisting of a first rotationdirection in which the first arm link mechanism and the second arm linkmechanism are extended, and a second rotation direction in which thefirst arm link mechanism and the second arm link mechanism arecontracted, and a second driving shaft operative to rotate the fourtharm link of the first arm link mechanism around the rotation axis in anyone of two rotation directions consisting of the first rotationdirection and the second rotation direction. In the aforesaid robot armmechanism according to the present invention, the robot arm drivingmechanism is operative to rotate the first arm link of the first armlink mechanism around the rotation axis in the first rotation direction,and the fourth arm link of the first arm link mechanism around therotation axis in any one of two directions consisting of the firstrotation direction and the second rotation direction while maintainingthe first angle formed by a line passing through the first arm link ofthe first arm link mechanism with the reference line less than a thirdangle formed by a line passing through the fourth arm link of the firstarm link mechanism with the reference line in the first rotationdirection as well as maintaining the second angle formed by a linepassing through the first arm link of the second arm link mechanism withthe reference line less than a third angle formed by a line passingthrough the fourth arm link of the second arm link mechanism with thereference line in the rotation direction opposite to the first rotationdirection.

BRIEF DESCRIPTION OF THE DRAWINGS

The objects, features and advantages of the present invention willbecome apparent as the description proceeds when taken in conjunctionwith the accompanying drawings, in which:

FIG. 1 is a skeleton view of an extended position of a first preferredembodiment of the robot arm mechanism according to the presentinvention;

FIG. 2 is an enlarged fragmentary skeleton view of the robot armmechanism shown in FIG. 1 to be used for explaining the principle of therobot arm mechanism according to the present invention;

FIG. 3 is a skeleton view of a contracted position of the robot armmechanism shown in FIG. 1;

FIG. 4 (a) is an enlarged fragmentary skeleton view of one condition ofa conventional robot arm mechanism to be used for explaining a drawbackof the conventional robot arm mechanism;

FIG. 4 (b) is an enlarged fragmentary skeleton view of one condition ofthe robot arm mechanism shown in FIG. 1 to be used for explaining anadvantage of the robot arm mechanism according to the present invention;

FIG. 5 is a skeleton view of an extended position of a modified firstembodiment of the robot arm mechanism in which first and second armlinks of a first arm link mechanism are longer than those of the robotarm mechanism shown in FIG. 1;

FIG. 6 is a skeleton view of an extended position of a second preferredembodiment of the robot arm mechanism according to the presentinvention;

FIG. 7 is an enlarged fragmentary skeleton view of the robot armmechanism shown in FIG. 6 to be used for explaining the principle of therobot arm mechanism according to the present invention;

FIG. 8 is a skeleton view of a contracted position of the robot armmechanism shown in FIG. 6;

FIG. 9 (a) is an enlarged fragmentary skeleton view of one condition ofthe conventional robot arm mechanism to be used for explaining adrawback of the conventional robot arm mechanism;

FIG. 9 (b) is an enlarged fragmentary skeleton view of one condition ofthe robot arm mechanism shown in FIG. 6 to be used for explaining anadvantage of the robot arm mechanism according to the present invention;

FIG. 10 is a skeleton view of an extended position of the firstembodiment of the robot arm mechanism in which first and second armlinks of a first arm link mechanism are longer than those of the robotarm mechanism shown in FIG. 6;

FIG. 11 is a skeleton view of an extended position of a third preferredembodiment of the robot arm mechanism according to the presentinvention;

FIG. 12 (a) is an enlarged fragmentary skeleton view of one condition ofthe robot arm mechanism shown in FIG. 11 to be used for explaining adrawback of the conventional robot arm mechanism;

FIG. 12 (b) is an enlarged fragmentary skeleton view of one condition ofthe robot arm mechanism shown in FIG. 11 to be used for explaining theprinciple of the robot arm mechanism according to the present invention;

FIG. 13 is a skeleton view of a contracted position of the robot armmechanism shown in FIG. 11;

FIG. 14 (a) is an enlarged fragmentary skeleton view of the condition ofthe robot arm mechanism shown in FIG. 12 (a) to be used for explaining adrawback of the conventional robot arm mechanism;

FIG. 14 (b) is an enlarged fragmentary skeleton view of the condition ofthe robot arm mechanism shown in FIG. 12 (b) to be used for explainingan advantage of the robot arm mechanism according to the presentinvention;

FIG. 15 (a) is an enlarged fragmentary skeleton view of anothercondition of the third embodiment of the robot arm mechanism wherein alink retaining mechanism is mounted on first and second arm linkmechanism in a manner different from the robot arm mechanism shown inFIG. 12(b);

FIG. 15 (b) is an enlarged fragmentary skeleton view of anothercondition of the third embodiment of the robot arm mechanism wherein alink retaining mechanism is mounted on first and second arm linkmechanism in a manner different from any one of the robot arm mechanismsshown in FIG. 12(b) and FIG. 15(a);

FIG. 16 (a) is an enlarged fragmentary skeleton view of anothercondition of the third embodiment of the robot arm mechanism comprisinga link retaining mechanism different from the one shown in FIG. 12 (b);

FIG. 16 (b) is an enlarged fragmentary skeleton view of anothercondition of the third embodiment of the robot arm mechanism wherein alink retaining mechanism shown in FIG. 16(b) is mounted in aconventional manner,

FIG. 17 (a) is an enlarged fragmentary skeleton view of anothercondition of the third embodiment of the robot arm mechanism comprisinga link retaining mechanism different from the one shown in FIG. 12 (b)and 16(a);

FIG. 17 (b) is an enlarged fragmentary skeleton view of anothercondition of the third embodiment of the robot arm mechanism wherein alink retaining mechanism shown in FIG. 17(b) is mounted in aconventional manner;

FIG. 18 is a skeleton view of an extended position of a fourth preferredembodiment of the robot arm mechanism according to the presentinvention;

FIG. 19 is a skeleton view of a contracted position of the robot armmechanism shown in FIG. 18; and

FIG. 20 is a conventional robot arm mechanism.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

Throughout the following detailed description, similar referencecharacters and numbers refer to similar elements in all figures of thedrawings.

Referring to FIGS. 1 to 4 of the drawings, there is shown a firstpreferred embodiment of the robot arm mechanism 100 according to thepresent invention. The first embodiment of the robot arm mechanism 100is shown in FIG. 1 as comprising a first arm link mechanism 110, asecond arm link mechanism 120, a link retaining mechanism 140, a robotarm driving mechanism 130, a robot arm member 151, and a handling member152.

The first arm link mechanism 110 consists of a first quadric crank chaincomprising a first arm link 111, a second arm link 112, a third arm link113, and a fourth arm link 114 wherein the second arm link 112 issubstantially in parallel relationship with the first arm link 111 andthe fourth arm link 114 is substantially in parallel relationship withthe third arm link 113. The second arm link mechanism 120 consists of asecond quadric crank chain comprising a first arm link 121, a second armlink 122, a third arm link 123, and a fourth arm link 124 wherein thesecond arm link 122 is substantially in parallel relationship with thefirst arm link 121 and the fourth arm link 124 is substantially inparallel relationship with the third arm link 123. The second arm linkmechanism 120 is pivotably connected with the first arm link mechanism110.

The first arm link mechanism 110 and the second arm link mechanism 120will be described in detail, hereinlater.

The first arm link 111 of the first arm link mechanism 110 has a drivingend portion and a supporting end portion. The second arm link 112, thethird arm link 113, and the fourth arm link 114 of the first arm linkmechanism 110 respectively have first and second end portions.Similarly, the first arm link 121 of the second arm link mechanism 120has a supporting end portion and a handling end portion. The second armlink 122, the third arm link 123, and the fourth arm link 124 of thesecond arm link mechanism 120 respectively have first and second endportions.

The first and third arm links 111, 113 of the first arm link mechanism110 are pivotably connected with each other at the supporting endportion of the first arm link 111 of the first arm link mechanism 110and the first end portion of the third arm link 113 of the first armlink mechanism 110. The third and second arm links 113, 112 of the firstarm link mechanism 110 are pivotably connected with each other at thesecond end portion of the third arm link 113 of the first arm linkmechanism 110 and the first end portion of the second arm link 112 ofthe first arm link mechanism 110. The second and fourth arm links 112,114 of the first arm link mechanism 110 are pivotably connected witheach other at the second end portion of the second arm link 112 of thefirst arm link mechanism 110 and the first end portion of the fourth armlink 114 of the first arm link mechanism 110. The fourth and first armlinks 114, 111 of the first arm link mechanism 110 are pivotablyconnected with each other at the second end portion of the fourth armlink 114 of the first arm link mechanism 110 and the driving end portionof the first arm link 111 of the first arm link mechanism 110.

Similarly, the first and third arm links 121, 123 of the second arm linkmechanism 120 are pivotably connected with each other at the supportingend portion of the first arm link 121 of the second arm link mechanism120 and the first end portion of the third arm link 123 of the secondarm link mechanism 120. The third and second arm links 123, 122 of thesecond arm link mechanism 120 are pivotably connected with each other atthe second end portion of the third arm link 123 of the second arm linkmechanism 120 and the first end portion of the second arm link 122 ofthe second arm link mechanism 120. The second and fourth arm links 122,124 of the second arm link mechanism 120 are pivotably connected witheach other at the second end portion of the second arm link 122 of thesecond arm link mechanism 120 and the first end portion of the fourtharm link 124 of the second arm link mechanism 120. The fourth and firstarm links 124, 121 of the second arm link mechanism 120 are pivotablyconnected with each other at the second end portion of the fourth armlink 124 of the second arm link mechanism 120 and the handling endportion of the first arm link 121 of the second arm link mechanism 120.The third arm link 123 of the second arm link mechanism 120 isintegrally formed with and fixedly connected with the third arm link 113of the first arm link mechanism 110.

The link retaining mechanism 140 has a reference line 100 a as shown inFIG. 1. The link retaining mechanism 140 is adapted to pivotably retainthe first arm link mechanism 110 and the second arm link mechanism 120respectively and keep a first angle substantially equal to a secondangle wherein the first angle θ 101 is intended to mean an angle formedby a line passing through the first arm link 111 of the first arm linkmechanism 110 with the reference line 100 a, and the second angle θ 102is intended to mean an angle formed by a line passing through the firstarm link 121 of the second arm link mechanism 120 with the referenceline 100 a. The first angle θ 101 ranges from 0 to less than 180degrees.

The link retaining mechanism 140 will be described in detail,hereinlater.

It is assumed that the link retaining mechanism 140 is adapted topivotably retain the first arm link 111 of the first arm link mechanism110 and the first arm link 121 of the second arm link mechanism 120respectively at the supporting end portions of the first arm link 111 ofthe first arm link mechanism 110 and the first arm link 121 of thesecond arm link mechanism 120 and keep the first angle θ 101substantially equal to the second angle θ 102.

The link retaining mechanism 140 comprises a first joint cross linkage.The first joint cross linkage is a quadric crank chain and includes afirst short link 141, a first long link 144, a second short link 142,and a second long link 143. The first short link 141 has first andsecond end portions. The first long link 144 has first and second endportions and is longer than the first short link 141 of the first jointcross linkage of the link retaining mechanism 140. The first short andlong links 141, 144 of the first joint cross linkage of the linkretaining mechanism 140 are pivotably connected with each other at thesecond end portion of the first short link 141 of the first joint crosslinkage of the link retaining mechanism 140 and the first end portion ofthe first long link 144 of the first joint cross linkage of the linkretaining mechanism 140. The second short link 142 has first and secondend portions and is substantially equal in length to the first shortlink 141 of the first joint cross linkage of the link retainingmechanism 140. The first long link 144 of the first joint cross linkageof the link retaining mechanism 140 and the second short link 142 of thefirst joint cross linkage of the link retaining mechanism 140 arepivotably connected with each other at the second end portion of thefirst long link 144 of the first joint cross linkage of the linkretaining mechanism 140 and the first end portion of the second shortlink 142 of the first joint cross linkage of the link retainingmechanism 140. The second long link 143 has first and second endportions and is substantially equal in length to the first long link 144of the first joint cross linkage of the link retaining mechanism 140.The second short and long links 142, 143 of the first joint crosslinkage of the link retaining mechanism 140 are pivotably connected witheach other at the second end portion of the second short link 142 of thefirst joint cross linkage of the link retaining mechanism 140 and thefirst end portion of the second long link 143 of the first joint crosslinkage of the link retaining mechanism 140. The second long link 143 ofthe first joint cross linkage of the link retaining mechanism 140 andthe first short link 141 of the first joint cross linkage of the linkretaining mechanism 140 are pivotably connected with each other at thesecond end portion of the second long link 143 of the first joint crosslinkage of the link retaining mechanism 140 and the first end portion ofthe first short link 141 of the first joint cross linkage of the linkretaining mechanism 140 under the state that the second long link 143 ofthe first joint cross linkage of the link retaining mechanism 140 iscrossed with the first long link 144 of the first joint cross linkage ofthe link retaining mechanism 140.

The first short link 141 of the first joint cross linkage of the linkretaining mechanism 140 is integrally formed with and fixedly connectedwith the first arm link 121 of the second arm link mechanism 120. Thesecond long link 143 of the first joint cross linkage of the linkretaining mechanism 140 is integrally formed with and fixedly connectedwith the third arm link 113 of the first arm link mechanism 110 and thethird arm link 123 of the second arm link mechanism 120.

The link retaining mechanism 140 further comprises a second joint crosslinkage. The second joint cross linkage is a quadric crank chain, andincludes a first short link 145, a first long link 148, a second shortlink 146, and a second long link 147. The first short link 145 has firstand second end portions. The first short link 145 of the second jointcross linkage of the link retaining mechanism 140 is substantially equalin length to the second long link 143 of the first joint cross linkageof the link retaining mechanism 140, and integrally formed with andfixedly connected with the third arm link 113 of the first arm linkmechanism 110 and the third arm link 123 of the second arm linkmechanism 120. The first long link 148 has first and second end portionsand is longer than the first short link 145 of the second joint crosslinkage of the link retaining mechanism 140. The first short and longlinks 145, 148 of the second joint cross linkage of the link retainingmechanism 140 are pivotably connected with each other at the second endportion of the first short link 145 of the second joint cross linkage ofthe link retaining mechanism 140 and the first end portion of the firstlong link 148 of the second joint cross linkage of the link retainingmechanism 140. The second short link 142 of the first joint crosslinkage of the link retaining mechanism 140 are integrally formed withand fixedly connected with the first long link 148 of the second jointcross linkage of the link retaining mechanism 140. The second short link146 has first and second end portions and is substantially equal inlength to the first short link 145 of the second joint cross linkage ofthe link retaining mechanism 140. The first long link 148 of the secondjoint cross linkage of the link retaining mechanism 140 and the secondshort link 146 of the second joint cross linkage of the link retainingmechanism 140 are pivotably connected with each other at the second endportion of the first long link 148 of the second joint cross linkage ofthe link retaining mechanism 140 and the first end portion of the secondshort link 146 of the second joint cross linkage of the link retainingmechanism 140. The second long link 147 has first and second endportions and is substantially equal in length to the first long link 148of the second joint cross linkage of the link retaining mechanism 140.The second short and long links 146, 147 of the second joint crosslinkage of the link retaining mechanism 140 are pivotably connected witheach other at the second end portion of the second short link 146 of thesecond joint cross linkage of the link retaining mechanism 140 and thefirst end portion of the second long link 147 of the second joint crosslinkage of the link retaining mechanism 140. The second long link 147 ofthe second joint cross linkage of the link retaining mechanism 140 andthe first short link 145 of the second joint cross linkage of the linkretaining mechanism 140 are pivotably connected with each other at thesecond end portion of the second long link 147 of the second joint crosslinkage of the link retaining mechanism 140 and the first end portion ofthe first short link 145 of the second joint cross linkage of the linkretaining mechanism 140 under the state that the second long link 147 ofthe second joint cross linkage of the link retaining mechanism 140 iscrossed with the first long link 148 of the second joint cross linkageof the link retaining mechanism 140. The second long link 147 of thesecond joint cross linkage of the link retaining mechanism 140 isintegrally formed with and fixedly connected with the first arm link 111of the first arm link mechanism 110.

The robot arm driving mechanism 130 comprises a first driving shaft 131and a second driving shaft 132. The first driving shaft 131 isintegrally formed with and fixedly connected with and adapted to rotatethe first arm link 111 of the first arm link mechanism 110 around arotation axis in any one of two rotation directions consisting of afirst rotation direction 130 a in which the first arm link mechanism 110and the second arm link mechanism 120 are extended, and a secondrotation direction 130 b in which the first arm link mechanism 110 andthe second arm link mechanism 120 are contracted. The second drivingshaft 132 is integrally formed with and fixedly connected with andadapted to rotate the fourth arm link 114 of the first arm linkmechanism 110 around the rotation axis in any one of two rotationdirections consisting of the first rotation direction 130 a and thesecond rotation direction 130 b.

The robot arm member 151 has first and second end portions. The firstend portion of the robot arm member 151 is integrally formed with andfixedly connected with one of the second arm link 122 and the fourth armlink 124 of the second arm link mechanism 120.

The handling member 152 is fixedly connected with the second end portionof the robot arm member 151, and adapted to support and handle anobject. According to the present invention, the handling member 152 maybe adapted to, for example, grip the object.

Furthermore, the robot arm driving mechanism 130 is adapted to rotatethe first arm link 111 of the first arm link mechanism 110 around therotation axis the first rotation direction 130 a, and the fourth armlink 114 of the first arm link mechanism 110 around the rotation axis inany one of two directions consisting of the first rotation direction 130a and the second rotation direction 130 b while maintaining the firstangle θ 101 formed by a line 111 a passing through the first arm link111 of the first arm link mechanism 110 with the reference line 100 aless than a third angle θ 103 formed by a line 114 a passing through thefourth arm link 114 of the first arm link mechanism 110 with thereference line 100 a in the first rotation direction 130 a as best shownin FIG. 2. The third angle θ 103 ranges from 0 to less than 180 degrees.

The operation of the first embodiment of the robot arm mechanism 100will be described, hereinlater.

As shown in FIG. 2, the first driving shaft 131 is operated to rotatethe first arm link 111 of the first arm link mechanism 110 around therotation axis to change the first angle θ 101. The first driving shaft131 is operated to rotate the first arm link 111 of the first arm linkmechanism 110 around the rotation axis in, for example, the firstrotation direction 130 a, the first arm link mechanism 110 and thesecond arm link mechanism 120 are then operated to be extended. Thefirst driving shaft 131, on the other hand, is operated to rotate thefirst arm link 111 of the first arm link mechanism 110 around therotation axis in, for example, the second rotation direction 130 b, thefirst arm link mechanism 110 and the second arm link mechanism 120 arethen operated to be contracted. This means that the first driving shaft131 may rotate the first arm link 111 of the first arm link mechanism110 around the rotation axis in the first rotation direction 130 a untilthe first arm link mechanism 110 and the second arm link mechanism 120assumes an extended position as shown in FIG. 1, and the first drivingshaft 131 may rotate the first arm link 111 of the first arm linkmechanism 110 around the rotation axis in the second rotation direction130 b until the first arm link mechanism 110 and the second arm linkmechanism 120 assumes a contracted position as shown in FIG. 3.Alternatively, the first arm link mechanism 110 and the second arm linkmechanism 120 may further be contracted beyond the contracted positionshown in FIG. 3.

The first driving shaft 131 and the second driving shaft 132 mayrespectively rotate the first arm link 111 of the first arm linkmechanism 110 and the fourth arm link 114 of the first arm linkmechanism 110 around the rotation axis in the same rotation direction,for example, the first rotation direction 130 a or the second rotationdirection 130 b for the same amount of rotation angle, the robot armmechanism 100 as a whole, including the first arm link mechanism 110 andthe second arm link mechanism 120, is then rotated around the rotationaxis in the rotation direction.

As described hereinbefore, the robot arm driving mechanism 130 isoperated to rotate the first arm link 111 of the first arm linkmechanism 110 around the rotation axis in the first rotation direction130 a, in which the first arm link mechanism 110 and the second arm linkmechanism 120 are extended, and the fourth arm link 114 of the first armlink mechanism 110 around the rotation axis in any one of two directionsconsisting of the first rotation direction 130 a and the second rotationdirection 130 b while maintaining the first angle θ 101 formed by a line111 a passing through the first arm link 111 of the first arm linkmechanism 110 with the reference line 100 a less than a third angle θ103 formed by a line 114 a passing through the fourth arm link 114 ofthe first arm link mechanism 110 with the reference line 100 a in thefirst rotation direction 130 a as best shown in FIG. 2. This means thatthe first embodiment of the robot arm mechanism 100, in which the thirdangle θ 103 formed by the line 114 a passing through the fourth arm link114 of the first arm link mechanism 110 with the reference line 100 a inthe first rotation direction 130 a is maintained grater than the firstangle θ 101 formed by the line 111 a passing through the first arm link111 of the first arm link mechanism 110 with the reference line 100 a(see FIG. 2) while the first arm link mechanism 110 and the second armlink mechanism 120 are extended, can prevent the quadric crank chainconstituting the first arm link mechanism 110 from being flattened outwhile the first arm link mechanism 110 and the second arm link mechanism120 are extended, thereby improving resistance to deformation while thefirst arm link mechanism 110 and the second arm link mechanism 120 areextended as shown in FIG. 1, in comparison with the conventional robotarm mechanism 900 shown in FIG. 20 for the reason described hereinlater.

The quadric crank chain constituting the first arm link mechanism 110 ofthe first embodiment of the robot arm mechanism 100 does not take on aflattened out condition, in which the third angle θ 103 formed by a line114 a passing through the fourth arm link 114 of the first arm linkmechanism 110 with the reference line 100 a in the first rotationdirection 130 a is, for example, substantially zero degree as shown inFIG. 4(a), which the quadric crank chain constituting the first arm linkmechanism 910 of the conventional robot arm mechanism 900 takes on whenthe conventional robot arm mechanism 900 assumes, for example, anextended position shown in FIG. 20, because of the fact that the robotarm driving mechanism 130 is operated to rotate the first arm link 111of the first arm link mechanism 110 and the fourth arm link 114 of thefirst arm link mechanism 110 around the rotation axis while maintainingthe first angle θ 101 formed by a line 11 a passing through the firstarm link 111 of the first arm link mechanism 110 with the reference line100 a less than a third angle θ 103 formed by a line 114 a passingthrough the fourth arm link 114 of the first arm link mechanism 110 withthe reference line 100 a in the first rotation direction 130 a as bestshown in FIG. 4(b), thereby preventing the first quadric crank chainconstituting the first arm link mechanism 110 from being flattened outwhile the first arm link mechanism 110 and the second arm link mechanism120 are extended. This means that the third arm link 113 and the fourtharm link 114 of the first arm link mechanism 110 are kept forward in thefirst rotation direction 130 a with respect to the reference line 100 ain comparison with the third arm link 913 and the fourth arm link 914 ofthe first arm link mechanism 910 of the conventional robot arm mechanism900.

A force F101, for example, substantially perpendicular to the referenceline 100 a is exerted on the quadric crank chain constituting the firstarm link mechanism 110 of the robot arm mechanism 100 on the suppositionthat the quadric crank chain constituting the first arm link mechanism110 of the robot arm mechanism 100 should take on a flattened outcondition, which the quadric crank chain constituting the first arm linkmechanism 910 of the conventional robot arm mechanism 900 takes on whenthe conventional robot arm mechanism 900 assumes, for example, anextended position as shown in FIG. 20, the force F101 exerted on thefirst arm link mechanism 110 would be resolved into a component forceF102 exerted on the first arm link 111 of the first arm link mechanism110 and a component force F103 exerted on the third arm link 113 of thefirst arm link mechanism 110 as shown in FIG. 4(a). The same force F101substantially perpendicular to the reference line 100 a, on the otherhand, is exerted on the quadric crank chain constituting the first armlink mechanism 110 of the first embodiment of the robot arm mechanism100, the force F101 exerted on the first arm link mechanism 110 can beresolved into a component force F104 exerted on the first arm link 111of the first arm link mechanism 110, which is smaller than the componentforce F102, and a component force F105 exerted on the third arm link 113of the first arm link mechanism 110, which is smaller than the componentforce F103, as shown in FIG. 4(b).

While it has been described in the above that the force F101substantially perpendicular to the reference line 100 a and exerted onthe quadric crank chain constituting the first arm link mechanism 110 ofthe robot arm mechanism 100 are resolved into component forces F104,F105 respectively exerted on the first arm link 111 of the first armlink mechanism 110 and the third arm link 113 of the first arm linkmechanism 110, which are reduced in comparison with component forcesF102, F103 to be resolved from the force F101 exerted on the first armlink mechanism 910 and respectively exerted on the third arm link 911 ofthe first arm link mechanism 910 and the third arm link 913 of the firstarm link mechanism 910 of the conventional robot arm mechanism 900, aforce parallel with the reference line 100 a exerted on the quadriccrank chain constituting the first arm link mechanism 110 of the robotarm mechanism 100 may be resolved into component forces exerted onrespective arm links constituting the first arm link mechanism 110,which are reduced in comparison with component forces to be resolvedfrom the same force exerted on the first arm link mechanism 910 andexerted on respective arm links constituting the first arm linkmechanism 910 of the conventional robot arm mechanism 900 in a similarmanner as described above.

From the foregoing descriptions, it is to be understood that the firstarm link mechanism 110 of the robot arm mechanism 100 according to thepresent invention, in which component forces resolved from a forceexerted on the first arm link mechanism 110 and exerted on respectivearm links constituting the first arm link mechanism 110 are reduced incomparison with component forces to be resolved from the same forceexerted on the first arm link mechanism 910 and exerted on respectivearm links of the first arm link mechanism 910 of the conventional robotarm mechanism 900, can be resistant to deformation due to an externalforce while the first arm link mechanism 110 and the second arm linkmechanism 120 are extended, and accordingly enhance the operatingaccuracy of the robot arm mechanism 100 in comparison with theconventional robot arm mechanism 900.

Furthermore, the first arm link mechanism 110 of the robot arm mechanism100 according to the present invention, in which the third arm link 113and the fourth arm link 114 of the first arm link mechanism 110 are keptforward in the first rotation direction 130 a with respect to thereference line 100 a in comparison with the third arm link 913 and thefourth arm link 914 of the first arm link mechanism 910 of theconventional robot arm mechanism 900, is resistant to deformation incomparison with the third arm link 913 and the fourth arm link 914 ofthe first arm link mechanism 910 of the conventional robot arm mechanism900 because of the fact that the dimensional errors of arm linksconstituting the first arm link mechanism 110 occurred due to, forexample, a temperature change, machining error and assembly error, arespread through the arm links constituting the first arm link mechanism110 in directions except for directions substantially perpendicular toand parallel with the reference line 100 a, thereby enhancing theoperating accuracy of the handling member 152 of the robot arm mechanism100 while the first robot arm link mechanism 120 and the second robotarm link mechanism 120 are expanded.

According to the present invention, the third angle θ 103 formed by aline 114 a passing through the fourth arm link 114 of the first arm linkmechanism 110 with the reference line 100 a in the first rotationdirection 130 a may be any angle greater than the first angle θ 101formed by a line 111 a passing through the first arm link 111 of thefirst arm link mechanism 110 with the reference line 100 a as shown inFIG. 2. The third angle θ 103 formed by a line 114 a passing through thefourth arm link 114 of the first arm link mechanism 110 with thereference line 100 a in the first rotation direction 130 a may be setto, for example, an angle so that the first arm link 111 and the fourtharm link 114 of the first arm link mechanism 110 become substantiallyperpendicular to each other when the first arm link mechanism 110 andthe second arm link mechanism 120 are extended to its their limits.

The longer an arm link is, the smaller the machining error of the armlink with respect to the total length of the arm link. In order toattain the object of the present invention, the third arm link 113 andthe fourth arm link 114 of the first arm link mechanism 110 may berespectively replaced with a fifth arm link 115 longer than the thirdarm link 113 and a sixth arm link 116 substantially in parallelrelationship with the fifth arm link 115 and longer than the fourth armlink 114 of the first arm link mechanism 110 of the first embodiment ofthe robot arm mechanism 100 as shown in FIG. 5.

Referring to FIG. 5 of the drawings, there is shown a modified firstembodiment of the robot arm mechanism 100. The modified first embodimentof the robot arm mechanism 100 is similar to the first embodiment of therobot arm mechanism 100 except for the fact that the third arm link 113and the fourth arm link 114 of the first arm link mechanism 110 arerespectively replaced with the fifth arm link 115 and the sixth arm link116. The modified first embodiment of the robot arm mechanism 100, inwhich the third arm link 113 and the fourth arm link 114 of the firstarm link mechanism 110 are respectively replaced with the fifth arm link115 and the sixth arm link 116, is resistant to deformation due to themachining error and makes it possible for the handling member 152 tolinearly move along the reference line 100 a while the first arm linkmechanism 110 and the second arm link mechanism 120 are expanded, incomparison with the robot arm mechanism 100 shown in FIG. 1,

Furthermore, the modified first embodiment of the robot arm mechanism100 comprising the fifth arm link 115 and the sixth arm link 116substantially in parallel relationship with each other, and respectivelylonger than the third arm link 113 and the fourth arm link 114 in placeof the third arm link 113 and the fourth arm link 114, may have armlinks constituting the first arm link mechanism 110 thicker than thoseof the first embodiment of the robot arm mechanism 100 shown in FIG. 1,thereby enhancing the rigidity of the first arm link mechanism 110 andthe robot arm driving mechanism 130 constituting modified firstembodiment of the robot arm mechanism 100.

While it has been described in the above that the link retainingmechanism 140 consists of two quadric crank chains, the link retainingmechanism 140 may be constituted by any mechanism such as, for example,synchronous gears, pulley and belt mechanism publicly known in the art,as long as the link retaining mechanism 140 is operative to pivotablyretain the first arm link mechanism 110 and the second arm linkmechanism 120 respectively and keep the first angle θ 101 formed by aline passing through the first arm link 111 of the first arm linkmechanism 110 with the reference line 100 a equal to the second angle θ102 formed by a line passing through the first arm link 121 of thesecond arm link mechanism 120 with the reference line 100 a.

While it has been described in the above that the handling member 152 isfixedly connected with the second end portion of the robot arm member151, the handling member 152 may be fixedly connected with the secondarm link mechanism 120 without the handling member 152 in a manner thatthe handling member 152 is fixedly connected with, for example, one ofthe arm links constituting the second arm link mechanism 120 such as,for example, the first, second, and fourth arm link 121, 122, and 124.

From the foregoing description, it is to be understood that the firstembodiment of the robot arm mechanism 100 according to the presentinvention is resistant to deformation while the first arm link mechanism110 and the second arm link mechanism 120 are extended, and accordinglyenhancing the operating accuracy of the robot arm mechanism 100 incomparison with the conventional robot arm mechanism.

Referring to FIGS. 6 to 10 of the drawings, there is shown a secondpreferred embodiment of the robot arm mechanism 200 according to thepresent invention.

The second embodiment of the robot arm mechanism 200 is shown in FIG. 6as comprising a first arm link mechanism 210, a second arm linkmechanism 220, a robot arm driving mechanism 230, a link retainingmechanism 240, a robot arm member 251, and a handling member 252.

The first arm link mechanism 210 consists of a first quadric crank chaincomprising a first arm link 211, a second arm link 212, a third arm link213, and a fourth arm link 214. The second arm link 212 is substantiallyin parallel relationship with the first arm link 211. The fourth armlink 214 is substantially in parallel relationship with the third armlink 213.

The second arm link mechanism 220 consists of a second quadric crankchain comprising a first arm link 221, a second arm link 222substantially in parallel relationship with the first arm link 221, athird arm link 223, and a fourth arm link 224 substantially in parallelrelationship with the third arm link 223, the second arm link mechanism220 is pivotably connected with the first arm link mechanism 210. Thesecond arm link 222 is substantially in parallel relationship with thefirst arm link 221. The fourth arm link 224 is substantially in parallelrelationship with the third arm link 223. The second arm link mechanism220 is pivotably connected with the first arm link mechanism 210.

The first arm link mechanism 210 and the second arm link mechanism 220will be described in detail, hereinlater.

The first arm link 211 of the first arm link mechanism 210 has a drivingend portion and a supporting end portion. The second arm link 212, thethird arm link 213, and the fourth arm link 214 of the first arm linkmechanism 210 respectively have first and second end portions. The firstand third arm links 211, 213 of the first arm link mechanism 210 arepivotably connected with each other at the supporting end portion of thefirst arm link 211 of the first arm link mechanism 210 and the first endportion of the third arm link 213 of the first arm link mechanism 210.The third and second arm links 213, 212 of the first arm link mechanism210 are pivotably connected with each other at the second end portion ofthe third arm link 213 of the first arm link mechanism 210 and the firstend portion of the second arm link 212 of the first arm link mechanism210. The second and fourth arm links 212, 214 of the first arm linkmechanism 210 are pivotably connected with each other at the second endportion of the second arm link 212 of the first arm link mechanism 210and the first end portion of the fourth arm link 214 of the first armlink mechanism 210. The fourth and first arm links 214, 211 of the firstarm link mechanism 210 are pivotably connected with each other at thesecond end portion of the fourth arm link 214 of the first arm linkmechanism 210 and the driving end portion of the first arm link 211 ofthe first arm link mechanism 210.

Similarly, the first arm link 221 of the second arm link mechanism 220has a supporting end portion and a handling end portion. The second armlink 222, the third arm link 223, and the fourth arm link 224 of thesecond arm link mechanism 220 respectively have first and second endportions. The first and third arm links 221, 223 of the second arm linkmechanism 220 are pivotably connected with each other at the supportingend portion of the first arm link 221 of the second arm link mechanism220 and the first end portion of the third arm link 223 of the secondarm link mechanism 220. The third and second arm links 223, 222 of thesecond arm link mechanism 220 are pivotably connected with each other atthe second end portion of the third arm link 223 of the second arm linkmechanism 220 and the first end portion of the second arm link 222 ofthe second arm link mechanism 220. The second and fourth arm links 222,224 of the second arm link mechanism 220 are pivotably connected witheach other at the second end portion of the second arm link 222 of thesecond arm link mechanism 220 and the first end portion of the fourtharm link 224 of the second arm link mechanism 220. The fourth and firstarm links 224, 221 of the second arm link mechanism 220 are pivotablyconnected with each other at the second end portion of the fourth armlink 224 of the second arm link mechanism 220 and the handling endportion of the first arm link 221 of the second arm link mechanism 220.The third arm link 223 of the second arm link mechanism 220 isintegrally formed with and fixedly connected with the third arm link 213of the first arm link mechanism 210.

The link retaining mechanism 240 has a reference line 200 a as shown inFIG. 2. The link retaining mechanism 240 is adapted to pivotably retainthe first arm link mechanism 210 and the second arm link mechanism 220respectively and keep a first angle substantially equal to a secondangle, wherein the first angle θ 201 is intended to mean an angle formedby a line passing through the second arm link 212 of the first arm linkmechanism 210 with the reference line 200 a, and the second angle θ 202is intended to mean an angle formed by a line passing through the firstarm link 221 of the second arm link mechanism 220 with the referenceline 200 a. The first angle θ 201 ranges from 0 to less than 180degrees.

The link retaining mechanism 240 will be described in detail,hereinlater.

It is assumed that the link retaining mechanism 240 is operative topivotably retain the first arm link 211 of the first arm link mechanism210 and the first arm link 221 of the second arm link mechanism 220respectively at the supporting end portions of the first arm link 211 ofthe first arm link mechanism 210 and the first arm link 221 of thesecond arm link mechanism 220 and keep the first angle substantiallyequal to the second angle.

The link retaining mechanism 240 comprises a first joint cross linkage.The first joint cross linkage is a quadric crank chain and includes afirst short link 241, a first long link 244, a second short link 242,and a second long link 243.

The first short link 241 has first and second end portions. The firstlong link 244 has first and second end portions and longer than thefirst short link 241 of the first joint cross linkage of the linkretaining mechanism 240. The first short and long links 241, 244 of thefirst joint cross linkage of the link retaining mechanism 240 arepivotably connected with each other at the second end portion of thefirst short link 241 of the first joint cross linkage of the linkretaining mechanism 240 and the first end portion of the first long link244 of the first joint cross linkage of the link retaining mechanism240. The second short link 242 has first and second end portions andsubstantially equal in length to the first short link 241 of the firstjoint cross linkage of the link retaining mechanism 240. The first longlink 244 of the first joint cross linkage of the link retainingmechanism 240 and the second short link 242 of the first joint crosslinkage of the link retaining mechanism 240 are pivotably connected witheach other at the second end portion of the first long link 244 of thefirst joint cross linkage of the link retaining mechanism 240 and thefirst end portion of the second short link 242 of the first joint crosslinkage of the link retaining mechanism 240. The second long link 243has first and second end portions and substantially equal in length tothe first long link 244 of the first joint cross linkage of the linkretaining mechanism 240. The second short and long links 242, 243 of thefirst joint cross linkage of the link retaining mechanism 240 arepivotably connected with each other at the second end portion of thesecond short link 242 of the first joint cross linkage of the linkretaining mechanism 240 and the first end portion of the second longlink 243 of the first joint cross linkage of the link retainingmechanism 240. The second long link 243 of the first joint cross linkageof the link retaining mechanism 240 and the first short link 241 of thefirst joint cross linkage of the link retaining mechanism 240 arepivotably connected with each other at the second end portion of thesecond long link 243 of the first joint cross linkage of the linkretaining mechanism 240 and the first end portion of the first shortlink 241 of the first joint cross linkage of the link retainingmechanism 240 under the state that the second long link 243 of the firstjoint cross linkage of the link retaining mechanism 240 is crossed withthe first long link 244 of the first joint cross linkage of the linkretaining mechanism 240. The first short link 241 of the first jointcross linkage of the link retaining mechanism 240 is integrally formedwith and fixedly connected with the first arm link 221 of the second armlink mechanism 220. The second long link 243 of the first joint crosslinkage of the link retaining mechanism 240 are integrally formed withand fixedly connected with the third arm link 213 of the first arm linkmechanism 210 and the third arm link 223 of the second arm linkmechanism 220.

The link retaining mechanism 240 further comprises a second joint crosslinkage. The second joint cross linkage is a quadric crank chain andincludes a first short link 245, a first long link 248, a second shortlink 246, and a second long link 247.

The first short link 245 has first and second end portions. The firstshort link 245 of the second joint cross linkage of the link retainingmechanism 240 is substantially equal in length to the second long link243 of the first joint cross linkage of the link retaining mechanism240, and integrally formed with and fixedly connected with third armlink 213 of the first arm link mechanism 210 and the third arm link 223of the second arm link mechanism 220. The first long link 248 has firstand second end portions and longer than the first short link 245 of thesecond joint cross linkage of the link retaining mechanism 240. Thefirst short and long links 245, 248 of the second joint cross linkage ofthe link retaining mechanism 240 are pivotably connected with each otherat the second end portion of the first short link 245 of the secondjoint cross linkage of the link retaining mechanism 240 and the firstend portion of the first long link 248 of the second joint cross linkageof the link retaining mechanism 240. The second short link 242 of thefirst joint cross linkage of the link retaining mechanism 240 isintegrally formed with and fixedly connected with the first long link248 of the second joint cross linkage of the link retaining mechanism240. The second short link 246 having first and second end portions andsubstantially equal in length to the first short link 245 of the secondjoint cross linkage of the link retaining mechanism 240, the first longlink 248 of the second joint cross linkage of the link retainingmechanism 240 and the second short link 246 of the second joint crosslinkage of the link retaining mechanism 240 are pivotably connected witheach other at the second end portion of the first long link 248 of thesecond joint cross linkage of the link retaining mechanism 240 and thefirst end portion of the second short link 246 of the second joint crosslinkage of the link retaining mechanism 240. The second long link 247has first and second end portions and substantially equal in length tothe first long link 248 of the second joint cross linkage of the linkretaining mechanism 240. The second short and long links 246, 247 of thesecond joint cross linkage of the link retaining mechanism 240 arepivotably connected with each other at the second end portion of thesecond short link 246 of the second joint cross linkage of the linkretaining mechanism 240 and the first end portion of the second longlink 247 of the second joint cross linkage of the link retainingmechanism 240. The second long link 247 of the second joint crosslinkage of the link retaining mechanism 240 and the first short link 245of the second joint cross linkage of the link retaining mechanism 240are pivotably connected with each other at the second end portion of thesecond long link 247 of the second joint cross linkage of the linkretaining mechanism 240 and the first end portion of the first shortlink 245 of the second joint cross linkage of the link retainingmechanism 240 under the state that the second long link 247 of thesecond joint cross linkage of the link retaining mechanism 240 iscrossed with the first long link 248 of the second joint cross linkageof the link retaining mechanism 240. The second long link 247 of thesecond joint cross linkage of the link retaining mechanism 240 isintegrally formed with and fixedly connected with the first arm link 211of the first arm link mechanism 210.

The robot arm member 251 has first and second end portions. The firstend portion of the robot arm member 251 is integrally formed with andfixedly connected with the fourth arm link 224 of the second arm linkmechanism 220. The handling member 252 is fixedly connected with thesecond end portion of the robot arm member 251. The handling member 252is adapted to support and handle an object. According to the presentinvention, the handling member 252 may be adapted to, for example, gripthe object.

The robot arm driving mechanism 230 comprises a first driving shaft 231and a second driving shaft 232. The first driving shaft 231 is adaptedto rotate the first arm link 211 of the first arm link mechanism 210around a rotation axis in any one of two rotation directions consistingof a first rotation direction 230 a in which the first arm link 221 ofthe second arm link mechanism 220 rotates in a rotation direction 230 bopposite to the first rotation direction 230 a, and the first arm linkmechanism 210 and the second arm link mechanism 220 are extended, and asecond rotation direction 230 b in which the first arm link 221 of thesecond arm link mechanism 220 rotates in a rotation direction 230 aopposite to the second rotation direction 230 b, and the first arm linkmechanism 210 and the second arm link mechanism 220 are contracted. Thesecond driving shaft 232 is adapted to rotate the fourth arm link 214 ofthe first arm link mechanism 210 around the rotation axis in any one oftwo rotation directions consisting of the first rotation direction 230 aand the second rotation direction 230 b.

Furthermore, the robot arm driving mechanism 230 is adapted to rotatethe first arm link 211 of the first arm link mechanism 210 around therotation axis in the first rotation direction 230 a, and the fourth armlink 214 of the first arm link mechanism 210 around the rotation axis inany one of two directions consisting of the first rotation direction 230a and the second rotation direction 230 b while maintaining the secondangle θ 202 formed by a line 221 a passing through the first arm link221 of the second arm link mechanism 220 with the reference line 200 aless than a third angle θ 203 formed by a line 224 a passing through thefourth arm link 224 of the second arm link mechanism 220 with thereference line 200 a in the rotation direction 230 b opposite to thefirst rotation direction 230 a as shown in FIG. 7. The third angle θ 203ranges from 0 to less than 180 degrees.

The operation of the second embodiment of the robot arm mechanism 200will be described, hereinlater.

The first driving shaft 231 is operated to rotate the first arm link 211of the first arm link mechanism 210 around the rotation axis in, forexample, the first rotation direction 230 a, the first arm link 221 ofthe second arm link mechanism 220 is then operated to rotate around therotation axis in a rotation direction 230 b opposite to the firstrotation direction 230 a, and the first arm link mechanism 210 and thesecond arm link mechanism 220 are operated to be extended. The firstdriving shaft 231, on the other hand, is operated to rotate the firstarm link 211 of the first arm link mechanism 210 around a rotation axisin, for example, the second rotation direction 230 b, the first arm link221 of the second arm link mechanism 220 is then operated to rotatearound the rotation axis in a rotation direction 230 a opposite to thesecond rotation direction 230 b, and the first arm link mechanism 210and the second arm link mechanism 220 are contracted. The first drivingshaft 231 is operated to rotate the first arm link 211 of the first armlink mechanism 210 around the rotation axis to change the first angle θ201, and the first arm link 211 of the first arm link mechanism 210 isoperated to rotate around the rotation axis to change the second angle θ202 formed by a line 221 a passing through the first arm link 221 of thesecond arm link mechanism 220 with the reference line 200 a wherein thefirst angle θ 201 is substantially equal to the second angle θ 202 asdescribed earlier.

This means that the first driving shaft 231 may rotate the first armlink 211 of the first arm link mechanism 210 around the rotation axis inthe first rotation direction 230 a, and the first arm link 221 of thesecond arm link mechanism 220 may rotate around the rotation axis in arotation direction 230 b opposite to the first rotation direction 230 auntil the first arm link mechanism 210 and the second arm link mechanism220 assumes an extended position as shown in FIG. 6. The first drivingshaft 231, on the other hand, may rotate the first arm link 211 of thefirst arm link mechanism 210 around the rotation axis in the secondrotation direction 230 b, and the first arm link 221 of the second armlink mechanism 220 may rotate around the rotation axis in a rotationdirection 230 a opposite to the second rotation direction 230 b, and thefirst arm link mechanism 210 and the second arm link mechanism 220 arecontracted until the first arm link mechanism 210 and the second armlink mechanism 220 assumes a contracted position as shown in FIG. 8.Alternatively, the first arm link mechanism 210 and the second arm linkmechanism 220 may further be contracted beyond the contracted positionshown in FIG. 8.

The first driving shaft 231 and the second driving shaft 232 mayrespectively rotate the first arm link 211 of the first arm linkmechanism 210 and the fourth arm link 214 of the first arm linkmechanism 210 around the rotation axis in the same rotation direction,for example, the first rotation direction 230 a or the second rotationdirection 230 b for the same amount of rotation angle, the robot armmechanism 200 as a whole, including the first arm link mechanism 210 andthe second arm link mechanism 220, is then rotated around the rotationaxis in the rotation direction.

As described hereinbefore, the robot arm driving mechanism 230 isoperated to rotate the first arm link 211 of the first arm linkmechanism 210 around the rotation axis in the first rotation direction230 a, and the fourth arm link 214 of the first arm link mechanism 210around the rotation axis in any one of two directions consisting of thefirst rotation direction 230 a and the second rotation direction 230 bwhile maintaining the second angle θ 202 formed by the line 221 apassing through the first arm link 221 of the second arm link mechanism220 with the reference line 200 a less than the third angle θ 203 formedby the line 224 a passing through the fourth arm link 224 of the secondarm link mechanism 220 with the reference line 200 a in the rotationdirection 230 b opposite to the first rotation direction 230 a as shownin FIG. 7 wherein the third angle θ 203 ranges from 0 to less than 180degrees. This means that the second embodiment of the robot armmechanism 200, in which the third angle θ 203 formed by the line 224 apassing through the fourth arm link 224 of the second arm link mechanism220 with the reference line 200 a in the rotation direction 230 bopposite to the first rotation direction 230 a is maintained greaterthan the second angle θ 202 formed by the line 221 a passing through thefirst arm link 221 of the second arm link mechanism 220 with thereference line 200 a (see FIG. 7) while the first arm link mechanism 210and the second arm link mechanism 220 are extended, can prevent thequadric crank chain constituting the second arm link mechanism 220 frombeing flattened out while the first arm link mechanism 210 and thesecond arm link mechanism 220 are extended, thereby improving resistanceto deformation while the first arm link mechanism 210 and the second armlink mechanism 220 are extended as shown in FIG. 6, in comparison withthe conventional robot arm mechanism 900 shown in FIG. 20 for the reasondescribed hereinlater.

The quadric crank chain constituting the second arm link mechanism 220of the second embodiment of the robot arm mechanism 200 does not take ona flattened out condition, in which the third angle θ 203 formed by theline 224 a passing through the fourth arm link 224 of the second armlink mechanism 220 with the reference line 200 a in the rotationdirection 230 b opposite to the first rotation direction 230 a is, forexample, substantially zero degree as shown in FIG. 9(a), which thequadric crank chain constituting the second arm link mechanism 920 ofthe conventional robot arm mechanism 900 takes on when the conventionalrobot arm mechanism 900 assumes, for example, an extended position shownin FIG. 20, because of the fact that the robot arm driving mechanism 230is operated to rotate the first arm link 211 of the first arm linkmechanism 210 and the fourth arm link 214 of the first arm linkmechanism 210 around the rotation axis while maintaining the secondangle θ 202 formed by the line 221 a passing through the first arm link221 of the second arm link mechanism 220 with the reference line 200 aless than the third angle θ 203 formed by the line 224 a passing throughthe fourth arm link 224 of the second arm link mechanism 220 with thereference line 200 a in the rotation direction 230 b opposite to thefirst rotation direction 230 a as best shown in FIG. 9(b), therebypreventing the first quadric crank chain constituting the second armlink mechanism 220 from being flattened out while the first arm linkmechanism 210 and the second arm link mechanism 220 are extended. Thismeans that the third arm link 223 and the fourth arm link 224 of thesecond arm link mechanism 220 are kept forward in the rotation direction230 b opposite to the first rotation direction 230 a with respect to thereference line 200 a in comparison with the third arm link 923 and thefourth arm link 924 of the second arm link mechanism 920 of theconventional robot arm mechanism 900.

A force F201, for example, substantially perpendicular to the referenceline 200 a is exerted on the quadric crank chain constituting the secondarm link mechanism 220 of the robot arm mechanism 200 on the suppositionthat the quadric crank chain constituting the second arm link mechanism220 of the robot arm mechanism 200 should take on a flattened outcondition, which the quadric crank chain constituting the second armlink mechanism 920 of the conventional robot arm mechanism 900 takes onwhen the conventional robot arm mechanism 900 assumes, for example, anextended position shown in FIG. 20, the force F201 exerted on the secondarm link mechanism 220 can be resolved into a component force F202exerted on the first arm link 221 of the second arm link mechanism 220and a component force F203 exerted on the fourth arm link 224 of thesecond arm link mechanism 220 as shown in FIG. 9(a). The same force F201substantially perpendicular to the reference line 200 a, on the otherhand, is exerted on the quadric crank chain constituting the second armlink mechanism 220 of the second embodiment of the robot arm mechanism200, the force F201 exerted on the second arm link mechanism 220 can beresolved into a component force F204 exerted on the first arm link 221of the second arm link mechanism 220, which is smaller than thecomponent force F202, and a component force F205 exerted on the fourtharm link 224 of the second arm link mechanism 220, which is smaller thanthe component force F203, as shown in FIG. 4(b).

While it has been described in the above that the force F201substantially perpendicular to the reference line 100 a and exerted onthe quadric crank chain constituting the second arm link mechanism 220of the robot arm mechanism 200 are resolved into component forces F204,F205 respectively exerted on the first arm link 221 of second arm linkmechanism 220 and the fourth arm link 224 of the second arm linkmechanism 220, which are reduced in comparison with component forcesF202, F203 to be resolved from the force F201 exerted on the second armlink mechanism 920 and respectively exerted on the first arm link 921 ofthe second arm link mechanism 920 and the fourth arm link 924 of thesecond arm link mechanism 920 of the conventional robot arm mechanism900, a force parallel with the reference line 200 a exerted on thequadric crank chain constituting the second arm link mechanism 220 ofthe robot arm mechanism 200 may be resolved into component forcesexerted on respective arm links constituting the second arm linkmechanism 220, which are reduced in comparison with component forces tobe resolved from the same force exerted on the second arm link mechanism920 and exerted on respective arm links constituting the second arm linkmechanism 920 of the conventional robot arm mechanism 900 in a similarmanner as described above.

While it has been described in the above that the handling member 252 isfixedly connected with the second end portion of the robot arm member251, the handling member 252 may be fixedly connected with the secondarm link mechanism 220 without the handling member 252 in a manner thatthe handling member 252 is fixedly connected with, for example, one ofthe arm links constituting the second arm link mechanism 120 such as,for example, the first, second, and fourth arm link 221, 222, and 224.

From the foregoing descriptions, it is to be understood that the secondarm link mechanism 220 of the robot arm mechanism 200 according to thepresent invention, in which component forces resolved from a forceexerted on the second arm link mechanism 220 and exerted on respectivearm links constituting the second arm link mechanism 220 are reduced incomparison with component forces to be resolved from the same forceexerted on the second arm link mechanism 920 and exerted on respectivearm links of the second arm link mechanism 920 of the conventional robotarm mechanism 900, can be resistant to deformation due to an externalforce while the first arm link mechanism 210 and the second arm linkmechanism 220 are extended, and accordingly enhance the operatingaccuracy of the robot arm mechanism 200 in comparison with theconventional robot arm mechanism 900.

Furthermore, the second arm link mechanism 220 of the robot armmechanism 200 according to the present invention, in which the third armlink 223 and the fourth arm link 224 of the second arm link mechanism220 are kept forward in the rotation direction 230 b opposite to thefirst rotation direction 230 a with respect to the reference line 200 ain comparison with the third arm link 923 and the fourth arm link 924 ofthe second arm link mechanism 920 of the conventional robot armmechanism 900, is resistant to deformation in comparison with the thirdarm link 923 and the fourth arm link 924 of the second arm linkmechanism 920 of the conventional robot arm mechanism 900 because of thefact that the dimensional errors of arm links constituting the secondarm link mechanism 220 occurred due to, for example, a temperaturechange, machining error and assembly error, are spread through the armlinks constituting the second arm link mechanism 220 in directionsexcept for directions substantially perpendicular to and parallel withthe reference line 100 a, thereby enhancing the operating accuracy ofthe handling member 252 of the robot arm mechanism 200 while the firstrobot arm link mechanism 220 and the second robot arm link mechanism 220are expanded.

According to the present invention, the third angle θ 203 formed by theline 224 a passing through the fourth arm link 224 of the second armlink mechanism 220 with the reference line 200 a in the rotationdirection 230 b opposite to the first rotation direction 230 a may beany angle greater than the second angle θ 202 formed by the line 221 apassing through the first arm link 221 of the second arm link mechanism220 with the reference line 200 a as shown in FIG. 7. The third angle θ203 formed by the line 224 a passing through the fourth arm link 224 ofthe second arm link mechanism 220 with the reference line 200 a in therotation direction 230 b opposite to the first rotation direction 230 amay be set to, for example, an angle so that the first arm link 221 andthe fourth arm link 224 of the second arm link mechanism 220 becomesubstantially perpendicular to each other when the first arm linkmechanism 210 and the second arm link mechanism 220 are extended to itstheir limits.

The longer an arm link is, the smaller the machining error of the armlink with respect to the total length of the arm link. In order toattain the object of the present invention, the third arm link 223 andthe fourth arm link 224 of the second arm link mechanism 220 may berespectively replaced with a fifth arm link 225 longer than the thirdarm link 223 and a sixth arm link 226 substantially in parallelrelationship with the fifth arm link 225 and longer than the fourth armlink 224 of the second arm link mechanism 220 of the second embodimentof the robot arm mechanism 200 as shown in FIG. 10.

Referring to FIG. 10 of the drawings, there is shown a modified secondembodiment of the robot arm mechanism 200. The modified secondembodiment of the robot arm mechanism 200 is similar to the secondembodiment of the robot arm mechanism except for the fact that the thirdarm link 223 and the fourth arm link 224 of the second arm linkmechanism 220 are respectively replaced with the fifth arm link 225 andthe sixth arm link 226. The modified second embodiment of the robot armmechanism 200, in which the third arm link 223 and the fourth arm link224 of the second arm link mechanism 220 are respectively replaced withthe fifth arm link 225 and the sixth arm link 226, is resistant todeformation due to the machining error and makes it possible for thehandling member 152 to linearly move along the reference line 200 awhile the first arm link mechanism 210 and the second arm link mechanism220 are expanded, in comparison with the robot arm mechanism 200 shownin FIG. 6.

Furthermore, the modified second embodiment of the robot arm mechanism200, comprising the fifth arm link 225 and the sixth arm link 226substantially in parallel relationship with each other, and respectivelylonger than the third arm link 223 and the fourth arm link 224 in placeof the third arm link 223 and the fourth arm link 224, may have armlinks constituting the second arm link mechanism 220 thicker than thoseof the second embodiment of the robot arm mechanism 200 shown in FIG. 6,thereby enhancing the rigidity of the second arm link mechanism 220constituting modified second embodiment of the robot arm mechanism 200.

While it has been described in the above that the link retainingmechanism 240 consists of two quadric crank chains, the link retainingmechanism 240 may be constituted by any link retaining mechanism suchas, for example, synchronous gears, pulley and belt mechanism publiclyknown in the art, as long as the link retaining mechanism is operativeto pivotably retain the first arm link mechanism 210 and the second armlink mechanism 220 respectively and keep the first angle θ 201 formed bya line passing through the second arm link 212 of the first arm linkmechanism 210 with the reference line 200 a equal to the second angle θ202 formed by a line passing through the first arm link 221 of thesecond arm link mechanism 220 with the reference line 200 a.

From the foregoing description, it is to be understood that the secondembodiment of the robot arm mechanism 200 according to the presentinvention is resistant to deformation while the first arm link mechanism210 and the second arm link mechanism 220 are extended, and accordinglyenhancing the operating accuracy of the robot arm mechanism 200 incomparison with the conventional robot arm mechanism.

Referring to FIGS. 11 to 17 of the drawings, there is shown a thirdembodiment of the robot arm mechanism 300 according to the presentinvention. The third embodiment of the robot arm mechanism 300 is shownin FIG. 11 as comprising a first arm link mechanism 310, a second armlink mechanism 320, a link retaining mechanism 340, a robot arm drivingmechanism 330, a robot arm member 351, and a handling member 352.

The first arm link mechanism 310 consists of a first quadric crank chaincomprising a first arm link 311, a second arm link 312, a third arm link313, and a fourth arm link 314 wherein the second arm link 312 issubstantially in parallel relationship with the first arm link 311 andthe fourth arm link 314 is substantially in parallel relationship withthe third arm link 313. The second arm link mechanism 320 consists of asecond quadric crank chain comprising a first arm link 321, a second armlink 322, a third arm link 323, and a fourth arm link 32 wherein thesecond arm link 322 is substantially in parallel relationship with thefirst arm link 321 and the fourth arm link 324 is substantially inparallel relationship with the third arm link 323. The second arm linkmechanism 320 is pivotably connected with the first arm link mechanism310.

The first arm link mechanism 310 and the second arm link mechanism 320will be described in detail, hereinlater.

The first arm link 311 of the first arm link mechanism 310 has a drivingend portion and a supporting end portion. The second arm link 312, thethird arm link 313, and the fourth arm link 314 respectively have firstand second end portions. The first and third arm links 311, 313 of thefirst arm link mechanism 310 are pivotably connected with each other atthe supporting end portion of the first arm link 311 of the first armlink mechanism 310 and the first end portion of the third arm link 313of the first arm link mechanism 310. The third and second arm links 313,312 of the first arm link mechanism 310 are pivotably connected witheach other at the second end portion of the third arm link 313 of thefirst arm link mechanism 310 and the first end portion of the second armlink 312 of the first arm link mechanism 310. The second and fourth armlinks 312, 314 of the first arm link mechanism 310 are pivotablyconnected with each other at the second end portion of the second armlink 312 of the first arm link mechanism 310 and the first end portionof the fourth arm link 314 of the first arm link mechanism 310. Thefourth and first arm links 314, 311 of the first arm link mechanism 310are pivotably connected with each other at the second end portion of thefourth arm link 314 of the first arm link mechanism 310 and the drivingend portion of the first arm link 311 of the first arm link mechanism310.

Similarly, the first arm link 321 of the second arm link mechanism 320has a supporting end portion and a handling end portion. The second armlink 322, the third arm link 323, and the fourth arm link 324 of thesecond arm link mechanism 320 respectively have first and second endportions. The first and third arm links 321, 223 of the second arm linkmechanism 320 are pivotably connected with each other at the supportingend portion of the first arm link 321 of the second arm link mechanism320 and the first end portion of the third arm link 323 of the secondarm link mechanism 320. The third and second arm links 323, 222 of thesecond arm link mechanism 320 are pivotably connected with each other atthe second end portion of the third arm link 323 of the second arm linkmechanism 320 and the first end portion of the second arm link 322 ofthe second arm link mechanism 320. The second and fourth arm links 322,224 of the second arm link mechanism 320 are pivotably connected witheach other at the second end portion of the second arm link 322 of thesecond arm link mechanism 320 and the first end portion of the fourtharm link 324 of the second arm link mechanism 320. The fourth and firstarm links 324, 221 of the second arm link mechanism 320 are pivotablyconnected with each other at the second end portion of the fourth armlink 324 of the second arm link mechanism 320 and the handling endportion of the first arm link 321 of the second arm link mechanism 320.The third arm link 323 of the second arm link mechanism 320 isintegrally formed with and fixedly connected with the third arm link 313of the first arm link mechanism 310.

The link retaining mechanism 340 has a reference line 300 a as shown inFIG. 11. The link retaining mechanism 340 is adapted to pivotably retainthe first arm link mechanism 310 and the second arm link mechanism 320respectively and keep a first angle substantially equal to a secondangle wherein the first angle θ 301 is intended to mean an angle formedby a line passing through the second arm link 312 of the first arm linkmechanism 310 with the reference line 300 a and the second angle θ 302is intended to mean an angle formed by a line passing through the firstarm link 321 of the second arm link mechanism 320 with the referenceline 300 a.

The link retaining mechanism 340 comprises a first joint cross linkageand a second joint cross linkage. The first joint cross linkage of thelink retaining mechanism 340 consists of a third quadric crank chainincluding a first short link 341, a first long link 344, a second shortlink 342, and a second long link 343. The first long link 344 is longerthan the first short link 341 of the first joint cross linkage of thelink retaining mechanism 340. The second short link 342 is substantiallyequal in length to the first short link 341 of the first joint crosslinkage of the link retaining mechanism 340. The second long link 343 issubstantially equal in length to the first long link 344 of the firstjoint cross linkage of the link retaining mechanism 340, and crossedwith the first long link 344 of the first joint cross linkage of thelink retaining mechanism 340. The second joint cross linkage of the linkretaining mechanism 340 consists of a fourth quadric crank chainincluding a first short link 345, a first long link 348, a second shortlink 346, and a second long link 347. The first short link 345 issubstantially equal in length to the second long link 343 of the firstjoint cross linkage of the link retaining mechanism 340. The first longlink 348 is longer than the first short link 345 of the second jointcross linkage of the link retaining mechanism 340. The second short link346 is substantially equal in length to the first short link 345 of thesecond joint cross linkage of the link retaining mechanism 340. Thesecond long link 347 is substantially equal in length to the first longlink 348 of the second joint cross linkage of the link retainingmechanism 340, and crossed with the first long link 348 of the secondjoint cross linkage of the link retaining mechanism 340.

One of the first short link 341 and the second short link 342 of thefirst joint cross linkage of the link retaining mechanism 340 is fixedlyconnected with one of the first arm link 311 and the second arm link 312of the first arm link mechanism 310 and the first arm link 321 and thesecond arm link 322 of the second arm link mechanism 320. In the presentcase, it is assumed that the first short link 341 of the first jointcross linkage of the link retaining mechanism 340 is integrally formedwith and fixedly connected with the first arm link 321 of the second armlink mechanism 320.

One of the first long link 344 and the second long link 343 of the firstjoint cross linkage of the link retaining mechanism 340 is fixedlyconnected with one of the third arm link 313 and the fourth arm link 314of the first arm link mechanism 310. In the present case, it is assumedthat the second long link 343 of the first joint cross linkage of thelink retaining mechanism 340 is integrally formed with and fixedlyconnected with the third arm link 313 of the first arm link mechanism310 and the second arm link 322 of the second arm link mechanism 320.

One of the first short link 345 and the second short link 346 of thesecond joint cross linkage of the link retaining mechanism 340 isfixedly connected with one of the first long link 344 and the secondlong link 343 of the first joint cross linkage of the link retainingmechanism 340. In the present case, it is assumed that the first shortlink 345 of the second joint cross linkage of the link retainingmechanism 340 is integrally formed with and fixedly connected with thesecond long link 343 of the first joint cross linkage of the linkretaining mechanism 340 and the first short link 345 of the second jointcross linkage of the link retaining mechanism 340 is integrally formedwith and fixedly connected with the third arm link 313 of the first armlink mechanism 310 and the third arm link 323 of the second arm linkmechanism 320.

One of the first long link 348 and the second long link 347 of thesecond joint cross linkage of the link retaining mechanism 340 has afirst end portion fixedly connected with one of the remaining ones ofthe first arm link 311 and the second arm link 312 of the first arm linkmechanism 310 and the first arm link 321 and the second arm link 322 ofthe second arm link mechanism 320, and a second end portion fixedlyconnected with one of the remaining ones of the first short link 341 andthe second short link 342 of the first joint cross linkage of the linkretaining mechanism 340. In the present case, it is assumed that thesecond short link 342 of the first joint cross linkage of the linkretaining mechanism 340 is integrally formed with and fixedly connectedwith the first long link 348 of the second joint cross linkage of thelink retaining mechanism 340.

The link retaining mechanism 340 of the robot arm mechanism 300 in thepresent case will be described in detail, hereinlater.

The first short link 341 having first and second end portions. The firstshort link 341 of the first joint cross linkage of the link retainingmechanism 340 is integrally formed with and fixedly connected with thefirst arm link 321 of the second arm link mechanism 320. The first longlink 344 has first and second end portions and longer than the firstshort link 341 of the first joint cross linkage of the link retainingmechanism 340. The first short and long links 341, 344 of the firstjoint cross linkage of the link retaining mechanism 340 are pivotablyconnected with each other at the second end portion of the first shortlink 341 of the first joint cross linkage of the link retainingmechanism 340 and the first end portion of the first long link 344 ofthe first joint cross linkage of the link retaining mechanism 340. Thesecond short link 342 has first and second end portions andsubstantially equal in length to the first short link 341 of the firstjoint cross linkage of the link retaining mechanism 340. The first longlink 344 of the first joint cross linkage of the link retainingmechanism 340 and the second short link 342 of the first joint crosslinkage of the link retaining mechanism 340 are pivotably connected witheach other at the second end portion of the first long link 344 of thefirst joint cross linkage of the link retaining mechanism 340 and thefirst end portion of the second short link 342 of the first joint crosslinkage of the link retaining mechanism 340. The second long link 343has first and second end portions and substantially equal in length tothe first long link 344 of the first joint cross linkage of the linkretaining mechanism 340. The second short and long links 342, 343 of thefirst joint cross linkage of the link retaining mechanism 340 arepivotably connected with each other at the second end portion of thesecond short link 342 of the first joint cross linkage of the linkretaining mechanism 340 and the first end portion of the second longlink 343 of the first joint cross linkage of the link retainingmechanism 340. The second long link 343 of the first joint cross linkageof the link retaining mechanism 340 and the first short link 341 of thefirst joint cross linkage of the link retaining mechanism 340 arepivotably connected with each other at the second end portion of thesecond long link 343 of the first joint cross linkage of the linkretaining mechanism 340 and the first end portion of the first shortlink 341 of the first joint cross linkage of the link retainingmechanism 340 under the state that the second long link 343 of the firstjoint cross linkage of the link retaining mechanism 340 is crossed withthe first long link 344 of the first joint cross linkage of the linkretaining mechanism 340. The second long link 343 of the first jointcross linkage of the link retaining mechanism 340 is integrally formedwith and fixedly connected with the third arm link 313 of the first armlink mechanism 310.

Similarly, the first short link 345 of the second joint cross linkagehas first and second end portions. The first short link 345 of thesecond joint cross linkage of the link retaining mechanism 340 issubstantially equal in length to the second long link 343 of the firstjoint cross linkage of the link retaining mechanism 340, and fixedlyconnected with the third arm link 323 of the second arm link mechanism320. The first long link 348 has first and second end portions and islonger than the first short link 345 of the second joint cross linkageof the link retaining mechanism 340. The first short and long links 345,348 of the second joint cross linkage of the link retaining mechanism340 are pivotably connected with each other at the second end portion ofthe first short link 345 of the second joint cross linkage of the linkretaining mechanism 340 and the first end portion of the first long link348 of the second joint cross linkage of the link retaining mechanism340. The second short link 342 of the first joint cross linkage of thelink retaining mechanism 340 is integrally formed with and fixedlyconnected with the first long link 348 of the second joint cross linkageof the link retaining mechanism 340. The second short link 346 has firstand second end portions and is substantially equal in length to thefirst short link 345 of the second joint cross linkage of the linkretaining mechanism 340. The first long link 348 of the second jointcross linkage of the link retaining mechanism 340 and the second shortlink 346 of the second joint cross linkage of the link retainingmechanism 340 are pivotably connected with each other at the second endportion of the first long link 348 of the second joint cross linkage ofthe link retaining mechanism 340 and the first end portion of the secondshort link 346 of the second joint cross linkage of the link retainingmechanism 340. The second long link 347 has first and second endportions and is substantially equal in length to the first long link 348of the second joint cross linkage of the link retaining mechanism 340.The second short and long links 346, 347 of the second joint crosslinkage of the link retaining mechanism 340 are pivotably connected witheach other at the second end portion of the second short link 346 of thesecond joint cross linkage of the link retaining mechanism 340 and thefirst end portion of the second long link 347 of the second joint crosslinkage of the link retaining mechanism 340. The second long link 347 ofthe second joint cross linkage of the link retaining mechanism 340 andthe first short link 345 of the second joint cross linkage of the linkretaining mechanism 340 are pivotably connected with each other at thesecond end portion of the second long link 347 of the second joint crosslinkage of the link retaining mechanism 340 and the first end portion ofthe first short link 345 of the second joint cross linkage of the linkretaining mechanism 340 under the state that the second long link 347 ofthe second joint cross linkage of the link retaining mechanism 340 iscrossed with the first long link 348 of the second joint cross linkageof the link retaining mechanism 340. The second long link 347 of thesecond joint cross linkage of the link retaining mechanism 340 isintegrally formed with and fixedly connected with the first arm link 311of the first arm link mechanism 310.

The robot arm member 351 has first and second end portions. The firstend portion of the robot arm member 351 is integrally formed with andfixedly connected with the fourth arm link 324 of the second arm linkmechanism 320. The handling member 352 is fixedly connected with thesecond end portion of the robot arm member 351, and adapted to supportand handle an object. According to the present invention, the handlingmember 352 may be adapted to, for example, grip the object.

The robot arm driving mechanism 330 comprise a first driving shaft 331and a second driving shaft 332.

The first driving shaft 331 is adapted to rotate the first arm link 311of the first arm link mechanism 310 around a rotation axis in any one oftwo rotation directions consisting of a first rotation direction 330 ain which the first arm link 321 of the second arm link mechanism 320rotates in a rotation direction 330 b opposite to the first rotationdirection 330 a, and the first arm link mechanism 310 and the second armlink mechanism 320 are extended, and a second rotation direction 330 bin which the first arm link 321 of the second arm link mechanism 320rotates in a rotation direction 330 a opposite to the second rotationdirection 330 b, and the first arm link mechanism 310 and the second armlink mechanism 320 are contracted. The second driving shaft 332 isadapted to rotate the fourth arm link 314 of the first arm linkmechanism 310 around the rotation axis in any one of two rotationdirections consisting of the first rotation direction 330 a and thesecond rotation direction 330 b.

Furthermore, the link retaining mechanism 340 is adapted to keep a linepassing through the one of the first short link 341 and the second shortlink 342 of the first joint cross linkage of the link retainingmechanism 340 forward in a rotation direction 330 a; 330 b, in which thefirst arm link mechanism 310 and the second arm link mechanism 320 arecontracted, with respect to a line passing through the one of the firstlong link 344 and the second long link 343 of the first joint crosslinkage of the link retaining mechanism 340 in comparison with a linepassing through the one of the first short link 341 and the second shortlink 342 of the first joint cross linkage of the link retainingmechanism 340 expected to be placed with respect to a line passingthrough the one of the first long link 344 and the second long link 343of the first joint cross linkage of the link retaining mechanism 340when the one of the first short link 341 and the second short link 342of the first joint cross linkage of the link retaining mechanism 340 andthe one of the first long link 348 and the second long link 347 of thesecond joint cross linkage of the link retaining mechanism 340 arerespectively placed in substantially collinear relationship with the oneof the first arm link 311 and the second arm link 312 of the first armlink mechanism 310 and the first arm link 321 and the second arm link322 of the second arm link mechanism 320 and the one of the remainingones of the first arm link 311 and the second arm link 312 of the firstarm link mechanism 310 and the first arm link 321 and the second armlink 322 of the second arm link mechanism 320.

In the present case, the link retaining mechanism 340 is adapted to keepa line passing through the first short link 341 of the first joint crosslinkage of the link retaining mechanism 340 forward in a rotationdirection 330 a, in which the first arm link mechanism 310 and thesecond arm link mechanism 320 are contracted, with respect to a linepassing through the second long link 343 of the first joint crosslinkage of the link retaining mechanism 340 in comparison with a linepassing through the first short link 341 of the first joint crosslinkage of the link retaining mechanism 340 expected to be placed withrespect to a line passing through the second long link 343 of the firstjoint cross linkage of the link retaining mechanism 340 when the firstshort link 341 of the first joint cross linkage of the link retainingmechanism 340 and the second long link 347 of the second joint crosslinkage of the link retaining mechanism 340 are respectively placed insubstantially collinear relationship with the first arm link 321 of thesecond arm link mechanism 320 and the first arm link 311 of the firstarm link mechanism 310 as best shown in FIGS. 12(a) and (b).

The concept of “keeping the line forward” will be described in detail,hereinlater.

The line 341 a passing through the first short link 341 of the firstjoint cross linkage of the link retaining mechanism 340 is expected tobe placed with respect to the line passing through the second long link343 of the first joint cross linkage of the link retaining mechanism 340to form a third angle θ 303 when the first short link 341 of the firstjoint cross linkage of the link retaining mechanism 340 and the secondlong link 347 of the second joint cross linkage of the link retainingmechanism 340 are respectively placed in substantially collinearrelationship with the first arm link 321 of the second arm linkmechanism 320 and the first arm link 311 of the first arm link mechanism310 as shown in FIG. 12(a). In the robot arm mechanism 300 according tothe present invention, the link retaining mechanism 340, on the otherhand, is adapted to keep the line 341 a passing through the first shortlink 341 of the first joint cross linkage of the link retainingmechanism 340 with respect to the line passing through the second longlink 343 of the first joint cross linkage of the link retainingmechanism 340 so as to form an additional fourth angle θ 304 with theline passing through the first arm link 321 of the second arm linkmechanism 320 in the rotation direction 330 a as shown in FIG. 12 (b),which is expected to be in collinear relationship with the first shortlink 341 of the first joint cross linkage of the link retainingmechanism 340 when the first short link 341 of the first joint crosslinkage of the link retaining mechanism 340 and the second long link 347of the second joint cross linkage of the link retaining mechanism 340are respectively placed in substantially collinear relationship with thefirst arm link 321 of the second arm link mechanism 320 and the firstarm link 311 of the first arm link mechanism 310 as shown in FIG. 12(a). This means that the line 341 a passing through the first short link341 of the first joint cross linkage of the link retaining mechanism 340is kept “forward” in a rotation direction 330 a, in which the first armlink mechanism 310 and the second arm link mechanism 320 are contracted,with respect to a line passing through the second long link 343 of thefirst joint cross linkage of the link retaining mechanism 340 for theadditional fourth angle “θ 304” as shown in FIG. 12(b) in comparisonwith a line passing through the first short link 341 of the first jointcross linkage of the link retaining mechanism 340 expected to be placedwith respect to a line passing through the second long link 343 of thefirst joint cross linkage of the link retaining mechanism 340 when thefirst short link 341 of the first joint cross linkage of the linkretaining mechanism 340 and the second long link 347 of the second jointcross linkage of the link retaining mechanism 340 are respectivelyplaced in substantially collinear relationship with the first arm link321 of the second arm link mechanism 320 and the first arm link 311 ofthe first arm link mechanism 310 as shown in FIG. 12(a).

The operation of the third embodiment of the robot arm mechanism 300will be described, hereinlater.

As shown in FIG. 11, the first driving shaft 331 is operated to rotatethe first arm link 311 of the first arm link mechanism 310 around therotation axis to change the first angle θ 301. The first driving shaft331 is operated to rotate the first arm link 311 of the first arm linkmechanism 310 around the rotation axis in, for example, the firstrotation direction 330 a, the first arm link mechanism 310 and thesecond arm link mechanism 320 are then operated to be extended. Thefirst driving shaft 331, on the other hand, is operated to rotate thefirst arm link 311 of the first arm link mechanism 310 around therotation axis in, for example, the second rotation direction 330 b, thefirst arm link mechanism 310 and the second arm link mechanism 320 arethen operated to be contracted. This means that the first driving shaft331 may rotate the first arm link 311 of the first arm link mechanism310 around the rotation axis in the first rotation direction 330 a untilthe first arm link mechanism 310 and the second arm link mechanism 320assumes an extended position as shown in FIG. 11, and the first drivingshaft 331 may rotate the first arm link 311 of the first arm linkmechanism 310 around the rotation axis in the second rotation direction330 b until the first arm link mechanism 310 and the second arm linkmechanism 320 assumes a contracted position as shown in FIG. 13.Alternatively, the first arm link mechanism 310 and the second arm linkmechanism 320 may further be contracted beyond the contracted positionshown in FIG. 13.

The first driving shaft 331 and the second driving shaft 332 mayrespectively rotate the first arm link 311 of the first arm linkmechanism 310 and the fourth arm link 314 of the first arm linkmechanism 310 around the rotation axis in the same rotation direction,for example, the first rotation direction 330 a or the second rotationdirection 330 b for the same amount of rotation angle, the robot armmechanism 300 as a whole, including the first arm link mechanism 310 andthe second arm link mechanism 320, is then rotated around the rotationaxis in the rotation direction.

As described hereinbefore, the line 341 a passing through the firstshort link 341 of the first joint cross linkage of the link retainingmechanism 340 is kept “forward” in a rotation direction 330 a, in whichthe first arm link mechanism 310 and the second arm link mechanism 320are contracted, with respect to a line passing through the second longlink 343 of the first joint cross linkage of the link retainingmechanism 340 for the additional fourth angle “θ 304” as shown in FIG.12(b) in comparison with a line passing through the first short link 341of the first joint cross linkage of the link retaining mechanism 340expected to be placed with respect to a line passing through the secondlong link 343 of the first joint cross linkage of the link retainingmechanism 340 when the first short link 341 of the first joint crosslinkage of the link retaining mechanism 340 and the second long link 347of the second joint cross linkage of the link retaining mechanism 340are respectively placed in substantially collinear relationship with thefirst arm link 321 of the second arm link mechanism 320 and the firstarm link 311 of the first arm link mechanism 310 as shown in FIG. 12(a).This means that the third embodiment of the robot arm mechanism 300, inwhich the line 341 a passing through the first short link 341 of thefirst joint cross linkage of the link retaining mechanism 340 is kept“forward” in a rotation direction 330 a, in which the first arm linkmechanism 310 and the second arm link mechanism 320 are contracted, canprevent the quadric crank chains constituting the link retainingmechanism 340 from being flattened out while the first arm linkmechanism 310 and the second arm link mechanism 320 are extended,thereby improving resistance to deformation while the first arm linkmechanism 310 and the second arm link mechanism 320 are extended asshown in FIG. 11, in comparison with the link retaining mechanism 940 ofthe conventional robot arm mechanism 900 shown in FIG. 20 for the reasondescribed hereinlater.

A force F301, for example, substantially perpendicular to the referenceline 300 a is exerted on a quadric crank chain constituting the linkretaining mechanism 340, in which the first short link 341 of the firstjoint cross linkage of the link retaining mechanism 340 and the secondlong link 347 of the second joint cross linkage of the link retainingmechanism 340 are respectively placed in substantially collinearrelationship with the first arm link 321 of the second arm linkmechanism 320 and the first arm link 311 of the first arm link mechanism310 as shown in FIG. 12(a), which is similar to the quadric crank chainconstituting the link retaining mechanism 940 of the conventional robotarm mechanism 900 shown in FIG. 20, the force F301 exerted on the linkretaining mechanism 340 can be resolved into a component force F302exerted on the first short link 341 of the first joint cross linkage ofthe link retaining mechanism 340 and a component force F303 exerted onthe first long link 344 of the first joint cross linkage of the linkretaining mechanism 340 as shown in FIG. 14(a).

The same force F301 substantially perpendicular to the reference line300 a, on the other hand, is exerted on the quadric crank chainconstituting link retaining mechanism 340 of the third embodiment of therobot arm mechanism 300, in which the line 341 a passing through thefirst short link 341 of the first joint cross linkage of the linkretaining mechanism 340 is kept “forward” in a rotation direction 330 a,in which the first arm link mechanism 310 and the second arm linkmechanism 320 are contracted, the force F301 exerted on the linkretaining mechanism 340 can be resolved into a component force F304exerted on the first short link 341 of the first joint cross linkage ofthe link retaining mechanism 340, which is smaller than the F302, and acomponent force F305 exerted on the first long link 344 of the firstjoint cross linkage of the link retaining mechanism 340, which issmaller than F303, as shown in FIG. 14(b).

While it has been described in the above that the force F301substantially perpendicular to the reference line 300 a and exerted onthe quadric crank chain constituting the link retaining mechanism 340 ofthe robot arm mechanism 300 are resolved into component forces F304,F305 respectively exerted on the first short link 341 of the first jointcross linkage of the link retaining mechanism 340 and the first longlink 344 of the first joint cross linkage of the link retainingmechanism 340, which are reduced in comparison with the quadric crankchain constituting the link retaining mechanism 940 of the conventionalrobot arm mechanism 900 shown in FIG. 20, a force parallel with thereference line 300 a exerted on the quadric crank chain constituting thelink retaining mechanism 340 of the robot arm mechanism 300 may beresolved into component forces exerted on respective arm linksconstituting the link retaining mechanism 340, which are reduced incomparison with component forces to be resolved from the same forceexerted on the link retaining mechanism 940 and exerted on respectivearm links constituting the link retaining mechanism 940 of theconventional robot arm mechanism 900 in a similar manner as describedabove.

While it has been described in the above that the handling member 352 isfixedly connected with the second end portion of the robot arm member351, the handling member 352 may be fixedly connected with the secondarm link mechanism 320 without the handling member 352 in a manner thatthe handling member 352 is fixedly connected with, for example, one ofthe arm links constituting the second arm link mechanism 320 such as,for example, the first, second, and fourth arm link 321, 322, and 324.

From the foregoing descriptions, it is to be understood that the linkretaining mechanism 340 of the robot arm mechanism 300 according to thepresent invention, in which component forces resolved from a forceexerted on the link retaining mechanism 340 and exerted on respectivearm links constituting the link retaining mechanism 340 are reduced incomparison with component forces to be resolved from the same forceexerted on the link retaining mechanism 940 and exerted on respectivearm links of the link retaining mechanism 940 of the conventional robotarm mechanism 900, can be resistant to deformation due to an externalforce while the first arm link mechanism 110 and the second arm linkmechanism 120 are extended, and accordingly enhance the operatingaccuracy of the robot arm mechanism 300 in comparison with theconventional robot arm mechanism 900.

According to the present invention, the additional fourth angle θ 304formed by the line 341 a passing through the first short link 341 of thefirst joint cross linkage of the link retaining mechanism 340 with theline 321 a passing through the first arm link 321 of the second arm linkmechanism 320 in the rotation direction 330 a may be any angle. Theadditional fourth angle θ 304 formed by the line 341 a passing throughthe first short link 341 of the first joint cross linkage of the linkretaining mechanism 340 with the line 321 a the first arm link 321 ofthe second arm link mechanism 320 in the rotation direction 330 a may beset to for example, an angle so that the first and short link 341, 342of the first joint cross linkage of the link retaining mechanism 340become substantially parallel with each other when the first arm linkmechanism 310 and the second arm link mechanism 320 are extended to itstheir limits.

While it has been described in the above, that the link retainingmechanism 340 is mounted on the first arm link mechanism 310 and thesecond arm link mechanism 320 in a manner that the line 313 a passingthrough third arm link 313 of the first arm link mechanism 310 issubstantially in collinear relationship with the line 343 a passingthrough the second long link 343 of the first joint cross linkage of thelink retaining mechanism 340 as shown in FIG. 12(b), the link retainingmechanism 340 may mounted on the first arm link mechanism 310 and thesecond arm link mechanism 320 in various manners other than shown inFIG. 12(b).

The link retaining mechanism 340 may be mounted on the first arm linkmechanism 310 and the second arm link mechanism 320 in, for example, amanner that the line 321 a passing through third arm link 321 of thesecond arm link mechanism 320 is substantially in collinear relationshipwith the line 341 a passing through the first short link 341 of thefirst joint cross linkage of the link retaining mechanism 340 as shownin FIG. 15(a). Alternatively, the link retaining mechanism 340 may bemounted on the first arm link mechanism 310 and the second arm linkmechanism 320 in, for example, a manner that the line 311 a passingthrough third arm link 311 of the first arm link mechanism 310 issubstantially in collinear relationship with the line 347 a passingthrough the second long link 347 of the second joint cross linkage ofthe link retaining mechanism 340 as shown in FIG. 15(b).

While it has been described in the above that the third embodiment ofthe robot arm mechanism 300 comprises the link retaining mechanism 340,the third embodiment of the robot arm mechanism 300 according to thepresent invention may comprise a link retaining mechanism comprising twoquadric crank chains other than the link retaining mechanism 340, suchas, for example, a link retaining mechanism 360 shown in FIG. 16(a) anda link retaining mechanism 370 shown in FIG. 17(a) in place of the linkretaining mechanism 340.

Description hereinlater will be directed to the link retaining mechanism360 with reference to FIG. 16(a).

The link retaining mechanism 360 comprises a first joint cross linkageand a second joint cross linkage. The first joint cross linkage is aquadric crank chain and includes a first short link 361, a second shortlink 362, a second long link 363, and a first long link 364. The firstlong link 364 is longer than the first short link 361 of the first jointcross linkage of the link retaining mechanism 360. The second short link362 is substantially equal in length to the first short link 361 of thefirst joint cross linkage of the link retaining mechanism 360. Thesecond long link 363 is substantially equal in length to the first longlink 364 of the first joint cross linkage of the link retainingmechanism 360, and crossed with the first long link 364 of the firstjoint cross linkage of the link retaining mechanism 360. The first shortlink 361 of the first joint cross linkage of the link retainingmechanism 360 is integrally formed with and fixedly connected with thefirst arm link 311 of the first arm link mechanism 310. The second longlink 363 of the first joint cross linkage of the link retainingmechanism 360 is integrally formed with and fixedly connected with thethird arm link 313 of the first arm link mechanism 310 and the third armlink 323 of the second arm link mechanism 320.

The second joint cross linkage is a quadric crank chain and includes afirst short link 365, a first long link 368, a second short link 366,and a second long link 367. The first long link 368 is longer than thefirst short link 365 of the second joint cross linkage of the linkretaining mechanism 360. The second short link 366 is substantiallyequal in length to the first short link 365 of the second joint crosslinkage of the link retaining mechanism 360. The second long link 367 issubstantially equal in length to the first long link 368 of the secondjoint cross linkage of the link retaining mechanism 360, and crossedwith the first long link 368 of the second joint cross linkage of thelink retaining mechanism 360. The first short link 365 of the secondjoint cross linkage of the link retaining mechanism 360 is integrallyformed with and fixedly connected with the third arm link 313 of thefirst arm link mechanism 310 and the third arm link 323 of the secondarm link mechanism 320. The second long link 367 of the second jointcross linkage of the link retaining mechanism 360 is integrally formedwith and fixedly connected with the second arm link 322 of the secondarm link mechanism 320. The first long link 368 of the second jointcross linkage of the link retaining mechanism 360 is integrally formedwith and fixedly connected with the second short link 362 of the firstjoint cross linkage of the link retaining mechanism 360.

The link retaining mechanism 360 thus constructed is adapted to keep theline 361 a passing through the first short link 361 of the first jointcross linkage of the link retaining mechanism 360 forward in therotation direction 330 b, in which the first arm link mechanism 310 andthe second arm link mechanism 320 are contracted, with respect to theline passing through the second long link 363 of the first joint crosslinkage of the link retaining mechanism 360 as shown in FIG. 16(a), incomparison with a line passing through the first short link 361 of thefirst joint cross linkage of the link retaining mechanism 360 expectedto be placed with respect to a line passing through the second long link363 of the first joint cross linkage of the link retaining mechanism 360when the line 361 a passing through the first short link 361 of thefirst joint cross linkage of the link retaining mechanism 360 and theline 367 a passing through the second long link 367 of the second jointcross linkage of the link retaining mechanism 360 are respectivelyplaced in substantially collinear relationship with the line 311 apassing through the first arm link 311 of the first arm link mechanism310 and the line 322 a passing through the second arm link 322 of thesecond arm link mechanism 320 as best shown in FIG. 16(b) for the reasondescribed hereinlater.

The line passing through the first short link 361 of the first jointcross linkage of the link retaining mechanism 360 forms a fifth angle θ305 with a line passing through the second long link 363 of the firstjoint cross linkage of the link retaining mechanism 360 in the rotationdirection 33 b when the line 361 a passing through the first short link361 of the first joint cross linkage of the link retaining mechanism 360and the line 367 a passing through the second long link 367 of thesecond joint cross linkage of the link retaining mechanism 360 arerespectively placed in substantially collinear relationship with theline 311 a passing through the first arm link 311 of the first arm linkmechanism 310 and the line 322 a passing through the second arm link 322of the second arm link mechanism 320 as shown in FIG. 16(b) while, onthe other hand, the link retaining mechanism 360 is adapted to keep theline 361 a passing through the first short link 361 of the first jointcross linkage of the link retaining mechanism 360 “forward” in therotation direction 330 b, in which the first arm link mechanism 310 andthe second arm link mechanism 320 are contracted, with respect to theline passing through the second long link 363 of the first joint crosslinkage of the link retaining mechanism 360 so that an angle formed bythe line passing through the first short link 361 of the first jointcross linkage of the link retaining mechanism 360 with a line passingthrough the second long link 363 of the first joint cross linkage of thelink retaining mechanism 360 in the rotation direction 33 b becomessubstantially equal to the fifth angle θ 305 minus a sixth angle θ 306as shown in FIG. 16(a). This means that the link retaining mechanism 360is adapted to keep the line 361 a passing through the first short link361 of the first joint cross linkage of the link retaining mechanism 360“forward” in the rotation direction 330 b, in which the first arm linkmechanism 310 and the second arm link mechanism 320 are contracted, withrespect to the line passing through the second long link 363 of thefirst joint cross linkage of the link retaining mechanism 360 for thesixth angle θ 306 as shown in FIG. 16(a) in comparison with a linepassing through the first short link 361 of the first joint crosslinkage of the link retaining mechanism 360 expected to be placed withrespect to a line passing through the second long link 363 of the firstjoint cross linkage of the link retaining mechanism 360 when the line361 a passing through the first short link 361 of the first joint crosslinkage of the link retaining mechanism 360 and the line 367 a passingthrough the second long link 367 of the second joint cross linkage ofthe link retaining mechanism 360 are respectively placed insubstantially collinear relationship with the line 311 a passing throughthe first arm link 311 of the first arm link mechanism 310 and the line322 a passing through the second arm link 322 of the second arm linkmechanism 320 as best shown in FIG. 16(b).

Description hereinlater will be directed to the link retaining mechanism370 with reference to FIG. 17(a). The link retaining mechanism 370 issimilar to the link retaining mechanism 360. Therefore, the detaileddescription of the link retaining mechanism 370 will be thus omittedfrom the following description.

In the link retaining mechanism 370, the first short link 371 of thefirst joint cross linkage of the link retaining mechanism 370 isintegrally formed with and fixedly connected with the second arm link322 of the second arm link mechanism 320, the second long link 373 ofthe first joint cross linkage of the link retaining mechanism 370 isintegrally formed with and fixedly connected with the third arm link 313of the first arm link mechanism 310 and the third arm link 323 of thesecond arm link mechanism 320, the first short link 375 of the secondjoint cross linkage of the link retaining mechanism 370 is integrallyformed with and fixedly connected with the third arm link 313 of thefirst arm link mechanism 310 and the third arm link 323 of the secondarm link mechanism 320, the second long link 377 of the second jointcross linkage of the link retaining mechanism 370 is integrally formedwith and fixedly connected with the first arm link 311 of the first armlink mechanism 310, and the first long link 378 of the second jointcross linkage of the link retaining mechanism 370 is integrally formedwith and fixedly connected with the second short link 372 of the firstjoint cross linkage of the link retaining mechanism 370.

The link retaining mechanism 370 thus constructed is adapted to keep theline 371 a passing through the first short link 371 of the first jointcross linkage of the link retaining mechanism 370 forward in therotation direction 330 a, in which the first arm link mechanism 310 andthe second arm link mechanism 320 are contracted, with respect to theline passing through the second long link 373 of the first joint crosslinkage of the link retaining mechanism 370 as shown in FIG. 17(a), incomparison with a line passing through the first short link 371 of thefirst joint cross linkage of the link retaining mechanism 370 expectedto be placed with respect to a line passing through the second long link373 of the first joint cross linkage of the link retaining mechanism 370when the line 371 a passing through the first short link 371 of thefirst joint cross linkage of the link retaining mechanism 370 and theline 377 a passing through the second long link 377 of the second jointcross linkage of the link retaining mechanism 370 are respectivelyplaced in substantially collinear relationship with the line 322 apassing through the first arm link 322 of the second arm link mechanism320 and the line 311 a passing through the second arm link 311 of thefirst arm link mechanism 310 as best shown in FIG. 17(b) for the reasondescribed hereinlater.

The line passing through the first short link 371 of the first jointcross linkage of the link retaining mechanism 370 forms a seventh angleθ 307 with a line passing through the second long link 373 of the firstjoint cross linkage of the link retaining mechanism 370 when the line371 a passing through the first short link 371 of the first joint crosslinkage of the link retaining mechanism 370 and the line 377 a passingthrough the second long link 377 of the second joint cross linkage ofthe link retaining mechanism 370 are respectively placed insubstantially collinear relationship with the line 322 a passing throughthe first arm link 322 of the second arm link mechanism 320 and the line311 a passing through the second arm link 311 of the first arm linkmechanism 310 as best shown in FIG. 17(b) while, on the other hand, thelink retaining mechanism 370 is adapted to keep the line 371 a passingthrough the first short link 371 of the first joint cross linkage of thelink retaining mechanism 370 “forward” in the rotation direction 330 a,in which the first arm link mechanism 310 and the second arm linkmechanism 320 are contracted, with respect to the line passing throughthe second long link 373 of the first joint cross linkage of the linkretaining mechanism 370 so that an angle formed by the line passingthrough the first short link 371 of the first joint cross linkage of thelink retaining mechanism 370 with a line passing through the second longlink 373 of the first joint cross linkage of the link retainingmechanism 370 in the rotation direction 33 b becomes substantially equalto the seventh angle θ 307 minus an eighth angle θ 308 as shown in FIG.17(a).

This means that the link retaining mechanism 370 is adapted to keep theline 371 a passing through the first short link 371 of the first jointcross linkage of the link retaining mechanism 370 “forward” in therotation direction 330 a, in which the first arm link mechanism 310 andthe second arm link mechanism 320 are contracted, with respect to theline passing through the second long link 373 of the first joint crosslinkage of the link retaining mechanism 370 for the eighth angle θ 308as shown in FIG. 17(a) in comparison with a line passing through thefirst short link 371 of the first joint cross linkage of the linkretaining mechanism 370 expected to be placed with respect to a linepassing through the second long link 373 of the first joint crosslinkage of the link retaining mechanism 370 when the line 371 a passingthrough the first short link 371 of the first joint cross linkage of thelink retaining mechanism 370 and the line 377 a passing through thesecond long link 377 of the second joint cross linkage of the linkretaining mechanism 370 are respectively placed in substantiallycollinear relationship with the line 322 a passing through the first armlink 322 of the second arm link mechanism 320 and the line 311 a passingthrough the second arm link 311 of the first arm link mechanism 310 asbest shown in FIG. 17(b).

Referring to FIGS. 18 and 19 of the drawings, there is shown a fourthpreferred embodiment of the robot arm mechanism 400 according to thepresent invention. The fourth embodiment of the robot arm mechanism 400is shown in FIG. 18 as comprising: a first arm link mechanism 410, asecond arm link mechanism 420, a link retaining mechanism 440, and arobot arm driving mechanism 430.

The first arm link mechanism 410 consists of a first quadric crank chaincomprising a first arm link 411, a second arm link 412, a third arm link413, and a fourth arm link 414. The second arm link 412 is substantiallyin parallel relationship with the first arm link 411. The fourth armlink 414 is substantially in parallel relationship with the third armlink 413. The second arm link mechanism 420 consists of a second quadriccrank chain comprising a first arm link 421, a second arm link 422, athird arm link 423, and a fourth arm link 424. The second arm linkmechanism 420 is pivotably connected with the first arm link mechanism410. The second arm link 422 is substantially in parallel relationshipwith the first arm link 421. The fourth arm link 424 is substantially inparallel relationship with the third arm link 423.

The link retaining mechanism 440 has a reference line 400 a as shown inFIG. 18. The link retaining mechanism 440 is adapted to pivotably retainthe first arm link mechanism 410 and the second arm link mechanism 420respectively and keep a first angle substantially equal to a secondangle, wherein the first angle θ 401 is intended to mean an angle formedby a line passing through the first arm link 411 of the first arm linkmechanism 410 with the reference line 400 a and the second angle θ 402is intended to mean an angle formed by a line passing through the firstarm link 421 of the second arm link mechanism 420 with the referenceline 400 a.

The link retaining mechanism 440 comprises a first joint cross linkageand a second joint cross linkage. The first joint cross linkage consistsof a third quadric crank chain including a first short link 441, a firstlong link 444, a second short link 442, and a second long link 443. Thefirst long link 444 is longer than the first short link 441 of the firstjoint cross linkage of the link retaining mechanism 440. The secondshort link 442 is substantially equal in length to the first short link441 of the first joint cross linkage of the link retaining mechanism440. The second long link 443 is substantially equal in length to thefirst long link 444 of the first joint cross linkage of the linkretaining mechanism 440, and crossed with the first long link 444 of thefirst joint cross linkage of the link retaining mechanism 440. The firstshort link 441 of the first joint cross linkage of the link retainingmechanism 440 is integrally formed with and fixedly connected with thefirst arm link 421 of the second arm link mechanism 420. The second longlink 443 of the first joint cross linkage of the link retainingmechanism 440 is integrally formed with and fixedly connected with thethird arm link 413 of the first arm link mechanism 410 and third armlink 423 of the second arm link mechanism 420.

The second joint cross linkage consists of a fourth quadric crank chainincluding a first short link 445, a first long link 448, a second shortlink 446, and a second long link 447. The first short link 445 issubstantially equal in length to the second long link 443 of the firstjoint cross linkage of the link retaining mechanism 440. The first longlink 448 is longer than the first short link 445 of the second jointcross linkage of the link retaining mechanism 440. The second short link446 is substantially equal in length to the first short link 445 of thesecond joint cross linkage of the link retaining mechanism 440. Thesecond long link 447 is substantially equal in length to the first longlink 448 of the second joint cross linkage of the link retainingmechanism 440, and crossed with the first long link 448 of the secondjoint cross linkage of the link retaining mechanism 440. The first shortlink 445 of the second joint cross linkage of the link retainingmechanism 440 is integrally formed with and fixedly connected with thirdarm link 413 of the first arm link mechanism 410 and third arm link 423of the second arm link mechanism 420. The second long link 447 of thesecond joint cross linkage of the link retaining mechanism 440 isintegrally formed with and fixedly connected with the first arm link 411of the first arm link mechanism 410. The first long link 448 of thesecond joint cross linkage of the link retaining mechanism 440 isintegrally formed with and fixedly connected with the second short link442 of the first joint cross linkage of the link retaining mechanism440.

The link retaining mechanism 440 is adapted to keep a line passingthrough the first short link 441 of the first joint cross linkage of thelink retaining mechanism 440 forward in a rotation direction 430 a, inwhich the first arm link mechanism 410 and the second arm link mechanism420 are contracted, with respect to a line passing through the secondlong link 443 of the first joint cross linkage of the link retainingmechanism 440 in comparison with a line passing through the first shortlink 441 of the first joint cross linkage of the link retainingmechanism 440 expected to be placed with respect to a line passingthrough the second long link 443 of the first joint cross linkage of thelink retaining mechanism 440 when the first short link 441 of the firstjoint cross linkage of the link retaining mechanism 440 and the secondlong link 447 of the second joint cross linkage of the link retainingmechanism 440 are respectively placed in substantially collinearrelationship with the first arm link 421 of the second arm linkmechanism 420 and the first arm link 411 of the first arm link mechanism410

The robot arm driving mechanism 430 comprises a first driving shaft 431and a second driving shaft 432. The first driving shaft 431 is adaptedto rotate the first arm link 411 of the first arm link mechanism 410around a rotation axis in any one of two rotation directions consistingof a first rotation direction 430 a in which the first arm linkmechanism 410 and the second arm link mechanism 420 are extended, and asecond rotation direction 430 b in which the first arm link mechanism410 and the second arm link mechanism 420 are contracted. The seconddriving shaft 432 is adapted to rotate the fourth arm link 414 of thefirst arm link mechanism 410 around the rotation axis in any one of tworotation directions consisting of the first rotation direction 430 a andthe second rotation direction 430 b.

The first arm link mechanism 410, the second arm link mechanism 420, thelink retaining mechanism 440, and the robot arm driving mechanism 430 ofthe robot arm mechanism 400 are similar to the first arm link mechanism110, the second arm link mechanism 120, the link retaining mechanism110, and the robot arm driving mechanism 130 of the first embodiment ofthe robot arm mechanism 100. Therefore, the detailed description will bethus omitted from the following description.

The robot arm mechanism 400 further comprises a robot arm member 451 anda handling member 452. The robot arm member 451 has first and second endportions. The first end portion of the robot arm member 451 isintegrally formed with and fixedly connected with one of the second armlink 122 and the fourth arm link 124 of the second arm link mechanism120. The handling member 452 is integrally formed with and fixedlyconnected with the second end portion of the robot arm member 451, andadapted to support and handle an object. According to the presentinvention, the handling member 452 may be adapted to, for example, gripthe object.

The robot arm driving mechanism 430 is adapted to rotate the first armlink 411 of the first arm link mechanism 410 around the rotation axis inthe first rotation direction 430 a, and the fourth arm link 414 of thefirst arm link mechanism 410 around the rotation axis in any one of twodirections consisting of the first rotation direction 430 a and thesecond rotation direction 430 b while maintaining the first angle θ 401formed by a line passing through the first arm link 411 of the first armlink mechanism 410 with the reference line 400 a less than a third angleθ 403 formed by a line passing through the fourth arm link 414 of thefirst arm link mechanism 410 with the reference line 400 a in the firstrotation direction 430 a as well as maintaining the second angle θ 402formed by a line passing through the first arm link 421 of the secondarm link mechanism 420 with the reference line 400 a less than a fourthangle θ 404 formed by a line passing through the fourth arm link 424 ofthe second arm link mechanism 420 with the reference line 400 a in therotation direction 430 b opposite to the first rotation direction 430 a.

The fourth embodiment of the robot arm mechanism 400 has the followingfeatures:

Feature 1

The robot arm mechanism 400 in which the robot arm driving mechanism 430is operative to rotate the first arm link 411 of the first arm linkmechanism 410 around the rotation axis in the first rotation direction430 a, and the fourth arm link 414 of the first arm link mechanism 410around the rotation axis in any one of two directions consisting of thefirst rotation direction 430 a and the second rotation direction 430 bwhile maintaining the first angle θ 401 formed by a line passing throughthe first arm link 411 of the first arm link mechanism 410 with thereference line 400 a less than a third angle θ 403 formed by a linepassing through the fourth arm link 414 of the first arm link mechanism410 with the reference line 400 a in the first rotation direction 430 a,can prevent the quadric crank chain constituting the first arm linkmechanism 410 from being flattened out while the first arm linkmechanism 410 and the second arm link mechanism 420 are extended,thereby improving resistance to deformation while the first arm linkmechanism 410 and the second arm link mechanism 420 are extended asshown in FIG. 18, in comparison with the conventional robot armmechanism 900 shown in FIG. 20.

Feature 2

The robot arm mechanism 400, in which the robot arm driving mechanism430 is adapted to rotate the first arm link 411 of the first arm linkmechanism 410 around the rotation axis in the first rotation direction430 a, and the fourth arm link 414 of the first arm link mechanism 410around the rotation axis in any one of two directions consisting of thefirst rotation direction 430 a and the second rotation direction 430 bwhile maintaining the second angle θ 402 formed by a line 421 a passingthrough the first arm link 421 of the second arm link mechanism 420 withthe reference line 400 a less than a fourth angle θ 404 formed by a line424 a passing through the fourth arm link 424 of the second arm linkmechanism 420 with the reference line 400 a in the rotation direction430 b opposite to the first rotation direction 430 a, can prevent thequadric crank chain constituting the second arm link mechanism 420 frombeing flattened out while the first arm link mechanism 410 and thesecond arm link mechanism 420 are extended, thereby improving resistanceto deformation while the first arm link mechanism 410 and the second armlink mechanism 420 are extended as shown in FIG. 18, in comparison withthe conventional robot arm mechanism 900 shown in FIG. 20.

Feature 3

The robot arm mechanism 400, in which the line 441 a passing through thefirst short link 441 of the first joint cross linkage of the linkretaining mechanism 440 is kept “forward” in a rotation direction 430 a,in which the first arm link mechanism 410 and the second arm linkmechanism 420 are contracted, can prevent the quadric crank chainsconstituting the link retaining mechanism 440 from being flattened outwhile the first arm link mechanism 410 and the second arm link mechanism420 are extended, thereby improving resistance to deformation while thefirst arm link mechanism 410 and the second arm link mechanism 420 areextended as shown in FIG., in comparison with the link retainingmechanism 940 of the conventional robot arm mechanism 900 shown in FIG.20 for the reason described hereinlater.

While it has been described in the above that the handling member 452 isfixedly connected with the second end portion of the robot arm member451, the handling member 452 may be fixedly connected with the secondarm link mechanism 420 with out the handling member 452 in a manner thatthe handling member 452 is fixedly connected with, for example, one ofthe arm links constituting the second arm link mechanism 420 such as,for example, the first, second, and fourth arm link 421, 422, and 424.

From the foregoing description, it is to be understood that the fourthembodiment of the robot arm mechanism 400 has functions and advantagessimilar to the first embodiment of the robot arm mechanism 100 (see FIG.1), the second embodiment of the robot arm mechanism 200 (see FIG. 6),and the third embodiment of the robot arm mechanism 300 (see FIG. 11).

The fourth embodiment of the robot arm mechanism 400 may have at leasttwo of the above features. In the fourth embodiment of the robot armmechanism 400 having the aforesaid Features 1 and 2 only, the linkretaining mechanism 440 of the robot arm mechanism 400 may be replacedby any link retaining mechanism such as, for example, synchronous gears,pulley and belt mechanism publicly known in the art, as long as the linkretaining mechanism is operative to pivotably retain the first arm linkmechanism 410 and the second arm link mechanism 420 respectively andkeep the first angle θ 401 formed by a line passing through the firstarm link 411 of the first arm link mechanism 410 with the reference line400 a substantially equal to the second angle θ 402 formed by a linepassing through the first arm link 421 of the second arm link mechanism420 with the reference line 400 a.

As will be seen from the above, there has been described in the previouspreferred embodiments of the robot arm mechanism according to thepresent invention that arm links constituting the first arm linkmechanism or the second arm link mechanism are kept forward in arotation direction, in which the first arm link mechanism and the secondarm link mechanism are extended, or the first short link of the firstjoint cross linkage of the link retaining mechanism is kept “forward” ina rotation direction, in which the first arm link mechanism and thesecond arm link mechanism are contracted in order to provide a robot armmechanism which is resistant to deformation while the first arm linkmechanism and the second arm link mechanism are extended. On thecontrary, arm links constituting the first arm link mechanism or thesecond arm link mechanism of the robot arm mechanism according to thepresent invention may be kept backward in a rotation direction, in whichthe first arm link mechanism and the second arm link mechanism areextended, or the first short link of the first joint cross linkage ofthe link retaining mechanism of the robot arm mechanism according to thepresent invention may be kept “backward” in a rotation direction, inwhich the first arm link mechanism and the second arm link mechanism arecontracted in order to provide a robot arm mechanism which is resistantto deformation while the first arm link mechanism and the second armlink mechanism are contracted.

The many features and advantages of the invention are apparent from thedetailed specification, and thus it is intended by the appended claimsto cover all such features and advantages of the invention which fallwithin the true spirit and scope thereof. Further, since numerousmodifications and changes will readily occur to those skilled in theart, it is not desired to limit the invention to the exact constructionand operation illustrated and described herein, and accordingly, allsuitable modifications and equivalents may be construed as beingencompassed within the scope of the invention.

1-12. (canceled)
 13. A robot arm mechanism comprising: a first armincluding first and second long parallel links each having a supportingend portion and a driving end portion and substantially in parallelrelationship with each other, a first short parallel link interveningbetween the supporting end portions of said first and second longparallel links and a second short parallel link intervening between thedriving end portions of said first and second long parallel linkssubstantially in parallel relationship with said first short parallellink, said first long parallel link, said second long parallel link,said first short parallel link and said second short parallel link beingpivotably connected with one another to collectively form a quadriccrank chain; a second arm including a link having a handling end portionand a connecting end portion pivotably connected with said supportingend portion of said first long parallel link of said first arm; a linkretaining mechanism having a reference line, said link retainingmechanism pivotably retaining said first arm and said second armrespectively and keeping a first angle substantially equal to a secondangle, said first angle being an angle formed by a line passing throughsaid driving end portion of said first long parallel link of said firstarm with said reference line, said second angle being an angle formed bya line passing through said handling end portion of said second arm withsaid reference line; and a robot arm driving mechanism including a firstdriving shaft operative to rotate said driving end portion of said firstlong parallel link of said first arm around a rotation axis in any oneof two rotation directions consisting of a first rotation direction inwhich said first arm and said second arm are extended, and a secondrotation direction in which said first arm and said second arm arecontracted, whereby said robot arm driving mechanism is operative torotate said first long parallel link of said first arm around saidrotation axis in said first rotation direction, and said second shortparallel link of said first arm around said rotation axis in any one oftwo directions consisting of said first rotation direction and saidsecond rotation direction while maintaining said first angle less than athird angle formed by a line passing through said second short parallellink of said first arm with said reference line in said first rotationdirection.
 14. A robot arm mechanism as set forth in claim 13, in whichsaid link retaining mechanism comprises: a first joint cross linkageincluding; a first short link having first and second end portions theformer of which is fixedly connected with said link of said second arm,a first long link having first and second end portions and longer thansaid first short link of said first joint cross linkage, said firstshort and long links of said first joint cross linkage being pivotablyconnected with each other at said second end portion of said first shortlink of said first joint cross linkage and said first end portion ofsaid first long link of said first joint cross linkage, a second shortlink having first and second end portions and substantially equal inlength to said first short link of said first joint cross linkage, saidfirst long link of said first joint cross linkage and said second shortlink of said first joint cross linkage being pivotably connected witheach other at said second end portion of said first long link of saidfirst joint cross linkage and said first end portion of said secondshort link of said first joint cross linkage, and a second long linkhaving first and second end portions and substantially equal in lengthto said first long link of said first joint cross linkage, said secondshort and long links of said first joint cross linkage being pivotablyconnected with each other at said second end portion of said secondshort link of said first joint cross linkage and said first end portionof said second long link of said first joint cross linkage, said secondlong link of said first joint cross linkage and said first short link ofsaid first joint cross linkage being pivotably connected with each otherat said second end portion of said second long link of said first jointcross linkage and said first end portion of said first short link ofsaid first joint cross linkage under the state that said second longlink of said first joint cross linkage of said link retaining mechanismis crossed with said first long link of said first joint cross linkage,and said second long link of said first joint cross linkage beingfixedly connected with said third arm link of said first arm, and asecond joint cross linkage including; a first short link having firstand second end portions, said first short link of said second jointcross linkage being substantially equal in length to said second longlink of said first joint cross linkage and fixedly connected with saidsecond long link of said first joint cross linkage, a first long linkhaving first and second end portions and longer than said first shortlink of said second joint cross linkage, said first short and long linksof said second joint cross linkage being pivotably connected with eachother at said second end portion of said first short link of said secondjoint cross linkage and said first end portion of said first long linkof said second joint cross linkage, said second short link of said firstjoint cross linkage being fixedly connected with said first long link ofsaid second joint cross linkage, a second short link having first andsecond end portions and substantially equal in length to said firstshort link of said second joint cross linkage, said first long link ofsaid second joint cross linkage and said second short link of saidsecond joint cross linkage being pivotably connected with each other atsaid second end portion of said first long link of said second jointcross linkage and said first end portion of said second short link ofsaid second joint cross linkage, and a second long link having first andsecond end portions and substantially equal in length to said first longlink of said second joint cross linkage, said second short and longlinks of said second joint cross linkage being pivotably connected witheach other at said second end portion of said second short link of saidsecond joint cross linkage and said first end portion of said secondlong link of said second joint cross linkage, said second long link ofsaid second joint cross linkage and said first short link of said secondjoint cross linkage being pivotably connected with each other at saidsecond end portion of said second long link of said second joint crosslinkage and said first end portion of said first short link of saidsecond joint cross linkage under the state that said second long link ofsaid second joint cross linkage is crossed with said first long link ofsaid second joint cross linkage, said second long link of said secondjoint cross linkage being fixedly connected with said first longparallel link of said first arm.
 15. A robot arm mechanism comprising: afirst arm including a link having a supporting end portion and a drivingend portion; a second arm including first and second long parallel linkseach having a connecting end portion and a handling end portion andsubstantially in parallel relationship with each other, a first shortparallel link intervening between the connecting end portions of saidfirst and second long parallel links and a second short parallel linkintervening between the handling end portions of said first and secondlong parallel links substantially in parallel relationship with saidfirst short parallel link, said first long parallel link, said secondlong parallel link, said first short parallel link and said second shortparallel link being pivotably connected with one another to collectivelyform a quadric crank chain; a link retaining mechanism having areference line, said link retaining mechanism pivotably retaining saidfirst arm and said second arm respectively and keeping a first anglesubstantially equal to a second angle, said first angle being an angleformed by a line passing through said driving end portion of said linkof said first arm with said reference line, said second angle being anangle formed by a line passing through said handling end portion of saidfirst long parallel link of said second arm with said reference line;and a robot arm driving mechanism including a first driving shaftoperative to rotate said driving end portion of said link of said firstarm around a rotation axis in any one of two rotation directionsconsisting of a first rotation direction in which said first arm andsaid second arm are extended, and a second rotation direction in whichsaid first arm and said second arm are contracted, whereby said robotarm driving mechanism is operative to rotate said link of said first armaround said rotation axis in said first rotation direction whilemaintaining said first angle less than a third angle formed by a linepassing through said second short parallel link of said second arm withsaid reference line in said first rotation direction.
 16. A robot armmechanism as set forth in claim 15, which further comprises: aconnecting link integrally formed with said first short parallel link ofsaid second arm; a second driving shaft driven to rotate around saidrotation axis in any one of said first rotation direction and saidsecond rotation direction; and a linkage intervening between said seconddriving shaft and said connecting link, and in which said first shortparallel link of said second arm is driven by said driving shaft throughsaid linkage and said connecting link with respect to said first longparallel link of said second arm in any one of said first rotationdirection and said second rotation direction to have said first anglemaintained less than said third angle when said first driving shaft andsaid second driving shaft are driven.
 17. A robot arm mechanism as setforth in claim 15, in which said link retaining mechanism comprises: afirst joint cross linkage including: a first short link having first andsecond end portions the former of which is fixedly connected with saidfirst long parallel link of said second arm, a first long link havingfirst and second end portions and longer than said first short link ofsaid first joint cross linkage, said first short and long links of saidfirst joint cross linkage being pivotably connected with each other atsaid second end portion of said first short link of said first jointcross linkage and said first end portion of said first long link of saidfirst joint cross linkage, a second short link having first and secondend portions and substantially equal in length to said first short linkof said first joint cross linkage, said first long link of said firstjoint cross linkage and said second short link of said first joint crosslinkage being pivotably connected with each other at said second endportion of said first long link of said first joint cross linkage andsaid first end portion of said second short link of said first jointcross linkage, and a second long link having first and second endportions and substantially equal in length to said first long link ofsaid first joint cross linkage, said second short and long links of saidfirst joint cross linkage being pivotably connected with each other atsaid second end portion of said second short link of said first jointcross linkage and said first end portion of said second long link ofsaid first joint cross linkage, said second long link of said firstjoint cross linkage and said first short link of said first joint crosslinkage being pivotably connected with each other at said second endportion of said second long link of said first joint cross linkage andsaid first end portion of said first short link of said first jointcross linkage under the state that said second long link of said firstjoint cross linkage is crossed with said first long link of said firstjoint cross linkage, and said second long link of said first joint crosslinkage being fixedly connected with said first short parallel link ofsaid second arm, and a second joint cross linkage including: a firstshort link having first and second end portions, said first short linkof said second joint cross linkage being substantially equal in lengthto said second long link of said first joint cross linkage andintegrally formed with said second long link of said first joint crosslinkage, a first long link having first and second end portions andlonger than said first short link of said second joint cross linkage,said first short and long links of said second joint cross linkage beingpivotably connected with each other at said second end portion of saidfirst short link of said second joint cross linkage and said first endportion of said first long link of said second joint cross linkage, andsaid second short link of said first joint cross linkage being fixedlyconnected with said first long link of said second joint cross linkageof said link retaining mechanism, a second short link having first andsecond end portions and substantially equal in length to said firstshort link of said second joint cross linkage, said first long link ofsaid second joint cross linkage and said second short link of saidsecond joint cross linkage being pivotably connected with each other atsaid second end portion of said first long link of said second jointcross linkage and said first end portion of said second short link ofsaid second joint cross linkage, and a second long link having first andsecond end portions and substantially equal in length to said first longlink of said second joint cross linkage, said second short and longlinks of said second joint cross linkage being pivotably connected witheach other at said second end portion of said second short link of saidsecond joint cross linkage and said first end portion of said secondlong link of said second joint cross linkage, said second long link ofsaid second joint cross linkage and said first short link of said secondjoint cross linkage being pivotably connected with each other at saidsecond end portion of said second long link of said second joint crosslinkage and said first end portion of said first short link of saidsecond joint cross linkage under the state that said second long link ofsaid second joint cross linkage is crossed with said first long link ofsaid second joint cross linkage, and said second long link of saidsecond joint cross linkage being fixedly connected with said link ofsaid first arm.